关键词： 中联   石油化工生产   江苏省环境   机器人竞赛   研究开发中心   舞龙   创意产业园   教育先进单位   技能人才培  

关键词： 六自由度   工业机器人   动力学建模   牛顿-欧拉法   联合仿真  

摘要： 为了实现工业机器人的实时控制,进行前馈补偿,提高机器人的设计效率,以HT001型6自由度工业机器人为研究对象,运用牛顿-欧拉递推法对工业机器人进行了动力学分析,并采用三维设计软件SolidWorks及动力学仿真软件ADAMS联合建立了接近实际的6自由度工业机器人的动力学仿真模型,并进行了动力学仿真,得到了相关的性能曲线图,仿真结果与MATLAB理论计算结果一致,验证了理论推导的正确性和三维仿真建模的合理性,研究内容为工业机器人的机械结构设计和最优控制提供了依据。

关键词： 两轮自平衡机器人   姿态检测   双闭环PID控制   单片机STM32  

摘要： 为兼顾低成本、小体积,可实现负重行走的运动控制,设计了一种基于姿态传感器的两轮桌面式小型机器人SmallRot-I.介绍了机器人的系统构成,包括机械结构部分和电气结构部分.使用Lagrange方程对此机器人进行了动力学建模,并采用双闭环PID算法对此机器人分别进行了系统仿真和实物的控制.机器人负重保持自平衡行走和转向运动时的仿真结果和实物控制结果证明了机器人物理系统和控制方法的合理性与有效性.

关键词： 移动焊接机器人   角焊缝   焊缝跟踪   动力学   鲁棒PI控制器  

摘要： 文中对移动焊接机器人在大型结构件中狭小空间的角焊缝跟踪控制问题进行了研究,首先,建立了焊接机器人在直角角焊缝处的运动学模型;然后,基于牛顿-欧拉方法分析了焊接机器人驱动轮、机器人移动本体及十字滑块的动力学行为,并建立了焊接机器人的整体动力学模型;最后,在对整体动力学模型合理简化的基础上,设计了焊接机器人焊缝跟踪控制的鲁棒PI控制器.应用MATLAB软件进行了仿真分析,并进行了试验研究,通过结果可以看出,该方法可实现移动焊接机器人在狭小空间内直角角焊缝的跟踪,且具有较高的跟踪精度.

关键词： ROBOTICS & ethics   ROBOTICS   GOVERNMENT policy   PUBLIC administration ethics   AGING -- Government policy   MEDICAL policy   MEDICAL ethics   MILITARY ethics   ROBOTICS -- Law & legislation   MORAL & ethical aspects  

摘要： Some electronics experts believe that robots, like present-day computers, will be commonplace. A diverse assortment of robots, with varying purposes, capacities, forms, and sizes, is emerging with significant implications for the policy, service and regulatory responsibilities of government. This paper explores three public policy fields - aging, health care and defence - where the use of robotics is already substantial or where it is projected to grow substantially and where significant ethical issues exist or are anticipated. Applying ethical theories to the use of robotics is difficult. In the near-term, the focus should be on the ethical standards and behaviour of those designing, manufacturing, programming and operating robots. Several key topics in contemporary public sector ethics, including personal moral responsibility, privacy and accountability, are central to the emerging field of robot ethics. This suggests developing an ethics regime for robotics and examining the need for laws and regulations governing its use. Sommaire Certains experts en electronique pensent que les robots, tout comme les ordinateurs d'aujourd'hui, seront bientot chose courante. Tout un assortiment de robots aux objectifs, capacites, formes et tailles variees, est en train de voir le jour, avec des repercussions considerables sur les responsabilites du gouvernement en matiere de politiques, de services et de reglementation. Cet article examine trois domaines de politique publique - le vieillissement, les soins de sante et la defense - dans lesquels l'utilisation de la robotique est deja considerable, ou prevue de s'accroitre enormement et oU d'importantes questions d'ethique existent ou sont anticipees. L'application des theories ethiques a l'utilisation de la robotique est un defi de taille. L'attention a court terme porte sur les normes d'ethique et le comportement des personnes qui interviennent dans la conception, la fabrication, la programmation et le fonctionnement des robots.

关键词： On-line evolution   Parameter control   Evolutionary robotics   Racing   On-board evolution   Heuristics  

摘要： On-line evolution of robot controllers allows robots to adapt while they perform their proper tasks. In our investigations, robots contain their own self-sufficient evolutionary algorithm (known as the encapsulated approach) where individual solutions are evaluated by means of a time sharing scheme: an individual controller is given the run of the robot for some amount of time and fitness corresponds to the robot's task performance during that period. In this paper, we propose and provide a detailed analysis of two on-the-fly control schemes to set the evaluation time in highly dynamic scenarios with completely different tasks. One scheme, called the roulette-wheel selection scheme, stochastically selects evaluation time from promising intervals similar to multi-armed bandit schemes. The other scheme, named Heuristic-Rule (H-Rule), tweaks the evaluation time using specific heuristics. Our experiments show that H-Rule gives stable performance in different scenarios and can serve as a viable alternative to pre-selected optimal evaluation time.

关键词： CHIEF executive officers   DEATH   ROBOTICS research   NON-Cartesian coordinate systems  

摘要： Takashi Gomi's death in September 2013 has left an enormous gap in the lives of his family and friends. Here I pay tribute to his multiple roles in bridging many gaps - so uniquely and charismatically - in the field of robotics over several decades. He was a principal player in the development of autonomous and evolutionary robotics over this period. He called his approach Non-Cartesian robotics, others used different terms such as Behavior Based Robotics or Nouvelle AI for broadly similar ideas;what united them was a critical rejection of many of the classical robotic assumptions that have been loosely called GOFAI - Good Old-Fashioned AI.

关键词： Psychic surgery   Surgical robots   Laparoscopic surgery   Endoscopic surgery   Nephrectomy  

关键词： employment   health care sector   motivation   robotics  

摘要： Background: The economy is being lifted by the new concept of robotics, but we cannot be sure of all the possible benefits. At this early stage, it therefore becomes important to find out the possible benefits/limitations associated with robotics, so that the positives can be capitalized, established, and developed further for the employment and motivation of employees in the health care sector, for overall economic development. The negatives should also be further studied and mitigated. Methods: This study is an exploratory research, based on secondary data, such as books on topics related to robotics, websites, public websites of concerned departments for data and statistics, journals, newspapers and magazines, websites of health care providers, and different printed materials (brochures, etc). Results: The impact of robotics has both positive and negative impacts on the employment and motivation of employees in the retail sector. So far, there has been no substantial research done into robotics, especially in the health care sector. Conclusion: Replacing employees with robots is an inevitable choice for organizations in the service sector, more so in the health care sector because of the challenging and sometimes unhealthy working environments, but, at the same time, the researchers propose that it should be done in a manner that helps in improving the employment and motivation of employees in this sector. (C) 2014, Occupational Safety and Health Research Institute. Published by Elsevier. All rights reserved.