Exact Computation of Parallel Robot''''s Generalized Inertia Matrix     

赵永杰  杨志永  梅江平  黄田 《天津大学学报(英文版)》2005,11(6)

According to the definition of the new hypothetical states which have obvious physical sig-nificance and are termed as no-gravity static and accelerated states, a method for exact computa-tion of the parallel robot's generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element dis-tribution of the Delta robot's inertia matrix in the workspace is studied. The method has computational advantage of numerical accuracy for the Delta robot and can be parallelized easily.  相似文献   

Problem Solving in a Middle School Robotics Design Classroom     

Stephen J. Norton  Campbell J. McRobbie  Ian S. Ginns 《Research in Science Education》2007,37(3):261-277

Little research has been conducted on how students work when they are required to plan, build and evaluate artefacts in technology rich learning environments such as those supported by tools including flow charts, Labview programming and Lego construction. In this study, activity theory was used as an analytic tool to examine the social construction of meaning. There was a focus on the effect of teachers’ goals and the rules they enacted upon student use of the flow chart planning tool, and the tools of the programming language Labview and Lego construction. It was found that the articulation of a teacher’s goals via rules and divisions of labour helped to form distinct communities of learning and influenced the development of different problem solving strategies. The use of the planning tool flow charting was associated with continuity of approach, integration of problem solutions including appreciation of the nexus between construction and programming, and greater educational transformation. Students who flow charted defined problems in a more holistic way and demonstrated more methodical, insightful and integrated approaches to their use of tools. The findings have implications for teaching in design dominated learning environments.  相似文献   

现代机器人技术与中国国民经济发展     

张寒松  郑桐  闫虎民  胡山  杨淼 《天津工程师范学院学报》2004,14(4):16-19

介绍了机器人技术的起源、发展以及在我国的应用现状,阐明了机器人技术的发展对我国传统产业的整体提升及国民经济可持续发展方面所起的重要作用,指出了我国机器人技术的发展必须与国民经济的发展紧密相连。  相似文献   

Virtual local target method for avoiding local minimum in potential field based robot navigation     

邹细勇  诸静 《浙江大学学报(A卷英文版)》2003,4(3):264-269

A novel robot navigation algorithm with global path generation capability is presented. Local minimum is a most intractable but is an encountered frequently problem in potential field based robot navigation. Through appointing appropriately some virtual local targets on the journey, it can be solved effectively. The key concept employed in this algorithm are the rules that govern when and how to appoint these virtual local targets. When the robot finds itself in danger of local minimum, a virtual local target is appointed to replace the global goal temporarily according to the rules. After the virtual target is reached, the robot continues on its journey by heading towards the global goal. The algorithm prevents the robot from running into local minima anymore. Simulation results showed that it is very effective in complex obstacle environments. Project (No. 69904009) supported by the National Natural Science Foundation of China  相似文献   

基于模糊控制的足球机器人运动控制算法     

汪蔚  桂玉屏 《广东技术师范学院学报》2005,(6):53-56

提出了一种基于行为的机器人运动模糊控制算法,对机器人运动到定点进行控制,设计了线速度模糊控制器和方向角模糊控制器,将模糊控制本身所具有的鲁棒性与基于生理学上的“感知-动作”行为结合起来,为移动机器人在未知环境中运动控制提出了一种新思路.  相似文献   

列车用送餐机器人路径规划研究及软件设计     

严文娟  费树岷 《教育技术导刊》2019,18(9):26-29

研究列车环境下送餐机器人路径规划与软件控制方案,为更好地满足实际需求,提出一种改进的蚁群算法,以加快收敛速度、缩短路径长度及减少转弯次数。实验中根据当前环境构建栅格图,通过编写的路径规划程序计算起始位置到目标位置的路径,完成当前环境下的路径规划。上位机软件平台采用C#语言编写,主要包括运动控制、订单管理、通讯传输等功能。实验结果表明,与基本蚁群算法相比,改进蚁群算法具有更好的规划效果,上位机软件平台与下位机可以实现有效的数据交换,并实现对送餐机器人的运动控制及系统管理等功能。  相似文献   

Cooperative co-evolution based distributed path planning of multiple mobile robots     

王梅  吴铁军 《浙江大学学报(A卷英文版)》2005,6(7):697-706

This paper proposes novel multiple-mobile-robot collision avoidance path planning based on cooperative co-evolution, which can be executed fully distributed and in parallel. A real valued co-evolutionary algorithm is developed to coordinate the movement of multiple robots in 2D world, avoiding C-space or grid net searching. The collision avoidance is achieved by cooperatively co-evolving segments of paths and the time interval to pass them. Methods for constraint handling, which are developed for evolutionary algorithm, make the path planning easier. The effectiveness of the algorithm is demonstrated on a number of 2D path planning problems.  相似文献   

机器人工程新工科专业建设探析     

胡而已  唐超权 《教育教学论坛》2019,(19):244-245

当前我国高等教育的发展重心已经从规模扩张转入内涵提升,提升质量已经成为核心任务。在《中国制造2025》中,机器人技术受到了前所未有的重视,成功申办机器人工程专业响应了教育部"新工科"建设号召,顺应了当前我国经济、社会发展对机器人技术的人才需求。然而,机器人工程专业作为一个新专业其发展和新经济的发展密切相关,是面向未来技术和未来社会的一个全新专业,传统的高等教育组织模式和教学理念、方法均需要进行大幅度的改革,以适应其专业内涵建设的需要。本文主要从专业理论与实践教学改革角度进行了初步研究,提出了初步改革思路供参考。  相似文献   

基于深度学习改进的机器人轨迹规划算法     

刘玉  邓琛  李文帅  韩宝磊 《教育技术导刊》2020,19(6):15-18

在公路环境巡逻机器人轨迹规划问题中,实时准确的交通流量预测对机器人轨迹规划尤为重要。然而由于车流量的随机非线性,使得机器人轨迹规划任务仍然充满挑战。提出一种深度神经网络与轨迹规划算法相结合的融合算法。通过深度学习预测短期交通流量,优化交通网络图并运用轨迹规划算法完成路径规划。实验表明,改进的机器人能够更快、更安全地完成道路巡逻任务。  相似文献   

AutoCAD.VBA与MATLAB环境下工业机器人仿真系统     

梁飞华  邓宇  曾亚森  邢镇容 《茂名学院学报》2005,15(3):43-46

基于微机硬件系统和构建AutoCAD.VBA与MATLAB环境下的仿真软件平台开发和研制了一个“工业机器人三维参数化造型和动态仿真”软件,对ET-18HERO六转动关节机器人的运动学正反解问题、图形示教及轨迹规划等问题进行动态的分析与研究,整个程序采用了模块化程序设计方法及菜单技术和对话框等先进且功能齐全的人—机交互式对话方式,解决了机器人运动学仿真过程中的准确性、实时性与快速性三者之间的矛盾。  相似文献