Stanford机器人逆解关节变量新方法     

赵轲 《茂名学院学报》2005,15(1):35-37

在D—H—M的基础上。利用斯坦福机器人的结构特点。提出了一种新的解法，即采用位姿分解的方式，使复杂的运动学方程得到简化。该方法有利于机器人的实时控制。为提高控制精度和速度提供了良好的思路。  相似文献   

基于成果导向的高职专业课程体系构建的逻辑与实践     

段向军  赵海峰  朱方园 《职教发展研究》2019,(1):37-41

文章基于"以成果为导向,以学生为中心,持续改进”的教育理念,按照国际工程教育专业认证规范和《悉尼协议》对毕业生特质的要求,以高职工业机器人技术专业为例,系统阐述了专业教学的设计流程和规范,具体包括专业培养目标、毕业要求、核心能力指标、课程体系、课程大纲的开发与实践,为高职院校推进成果导向教育改革提供了参考和借鉴。  相似文献   

Numerical and experimental investigations of human swimming motions     

Hideki Takagi  Motomu Nakashima  Yohei Sato  Kazuo Matsuuchi 《Journal of sports sciences》2016,34(16):1564-1580

This paper reviews unsteady flow conditions in human swimming and identifies the limitations and future potential of the current methods of analysing unsteady flow. The capability of computational fluid dynamics (CFD) has been extended from approaches assuming steady-state conditions to consideration of unsteady/transient conditions associated with the body motion of a swimmer. However, to predict hydrodynamic forces and the swimmer’s potential speeds accurately, more robust and efficient numerical methods are necessary, coupled with validation procedures, requiring detailed experimental data reflecting local flow. Experimental data obtained by particle image velocimetry (PIV) in this area are limited, because at present observations are restricted to a two-dimensional 1.0 m² area, though this could be improved if the output range of the associated laser sheet increased. Simulations of human swimming are expected to improve competitive swimming, and our review has identified two important advances relating to understanding the flow conditions affecting performance in front crawl swimming: one is a mechanism for generating unsteady fluid forces, and the other is a theory relating to increased speed and efficiency.  相似文献   

非完整轮式移动机器人运动控制系统的设计与实现   总被引：2，自引：0，他引：2  

王仲民  刘玉山  郑勇峰  刘继岩 《天津工程师范学院学报》2005,15(2):10-12

通过对非完整轮式移动机器人运动学模型的分析，以Elmo HARmonica伺服驱动控制器为核心，设计了轮式移动机器人的运动控制系统。基于Visual C 和OpenGL平台开发了轮式移动机器人轨迹跟踪仿真系统，并进行了轨迹跟踪的仿真试验，取得了满意的控制效果。实验结果表明了运动控制系统设计的有效性。  相似文献   

教育机器人的应用现状     

童小平 《中国教育技术装备》2008,(16)

介绍教育机器人在机器人竞赛及课内外教学中的应用现状,并提出其教育价值。  相似文献   

两自由度闭链机器人的神经网络自适应控制     

陈正洪  王勇  李艳 《上海大学学报(英文版)》2008,12(5):457-461

A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical use. This paper presents an adaptive proportional integral differential (PID) control algorithm based on radial basis function (RBF) neural network for trajectory tracking of a two-degree-of-freedom (2-DOF) closed-chain robot. In this scheme, an RBF neural network is used to approximate the unknown nonlinear dynamics of the robot, at the same time, the PID parameters can be adjusted online and the high precision can be obtained. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories. The results also indicate that the system robustness and tracking performance are superior to the classic PID method.  相似文献   

Vertical stream curricula integration of problem-based learning using an autonomous vacuum robot in a mechatronics course     

Cheng Chin  Keng Yue 《European Journal of Engineering Education》2011,36(5):485-504

Difficulties in teaching a multi-disciplinary subject such as the mechatronics system design module in Departments of Mechatronics Engineering at Temasek Polytechnic arise from the gap in experience and skill among staff and students who have different backgrounds in mechanical, computer and electrical engineering within the Mechatronics Department. The departments piloted a new vertical stream curricula model (VSCAM) to enhance student learning in mechatronics system design through integration of educational activities from the first to the second year of the course. In this case study, a problem-based learning (PBL) method on an autonomous vacuum robot in the mechatronics systems design module was proposed to allow the students to have hands-on experience in the mechatronics system design. The proposed works included in PBL consist of seminar sessions, weekly works and project presentation to provide holistic assessment on teamwork and individual contributions. At the end of VSCAM, an integrative evaluation was conducted using confidence logs, attitude surveys and questionnaires. It was found that the activities were quite appreciated by the participating staff and students. Hence, PBL has served as an effective pedagogical framework for teaching multidisciplinary subjects in mechatronics engineering education if adequate guidance and support are given to staff and students.  相似文献   

履带式缆索机器人系统的研制     

郑道友  欧长劲 《浙江工贸职业技术学院学报》2011,11(3):72-75

针对缆索的安全高效的维护,设计出一种履带式缆索机器人系统,机器人采用履带机构沿着缆索进行爬升,爬行能力强,运行稳定,柔性夹紧机构的设计使其能够自动适应缆索直径的变化,使整机结构新颖、紧凑;开发了适应缆索机器人工作环境要求的无线遥控控制系统。  相似文献   

机器人技术基础实验教学的改革与实践     

唐艳华  张庆玲 《教学研究(河北)》2015,(2)

根据机器人技术基础课程特点,在实验室现有ABB IRB1410机器人的基础上自主开发了机器人上下料平台实验系统,该系统采用真空吸附的工作原理实现板料的搬运。制定并执行了机器人运动学控制以及机器人上下料模拟实验教学方案,经机械电子工程专业学生实践,证明该实验方案能达到预期实验目的,有效激发学生学习热情,在有限课时内锻炼学生的自主开发能力。  相似文献   

农业机器人的发展现状及展望   总被引：6，自引：0，他引：6       下载免费PDF全文

王儒敬  孙丙宇 《中国科学院院刊》2015,30(6):803-809

文章通过对国内外农业机器人发展情况调研,分析了目前农业机器人具有的作业季节性、作业环境复杂性、作业对象娇嫩性和复杂性、使用对象特殊性等几大特点,根据农业机器人解决问题的侧重点差异将农业机器人大致分为行走系列农业机器人和机械手系列机器两大类,并介绍和总结了各类机器人的功能,同时介绍了我国各类农业机器人、以及日本、美国和其他国家具有代表性的农业机器人,指出目前农业机器人推广与普及的瓶颈主要是农业机器人制造成本问题和农业机器人智能化程度问题。最后对农业机器人发展趋势进行讨论,提出今后农业机器人应侧重于开放式的结构及控制系统,农业生产标准化研究与机器人技术研究紧密结合的研究。  相似文献