关键词： 机器人   动力学   单闭链机器人  

摘要： 本文将闭链机构受力分析的示力副法推广应用到含单闭链机器人的动力学分析，建立了含单闭链机器人的动力学逆问题和建模计算公式计算时，将含单闭链机器人分成主开链和子开链，并对机器人所含闭链机构进行运动分析，由此得到联系主开链和子开链关节运动量的变换阵借鉴开链机器人的动力学公式对这两个开链进行计算．将所得的子开链的动力学计算结果，由得到的关节运动量变换阵进行适当变换，并与主开链的动力学计算结果相加就可得到含单闭链机器人的动力学计算结果与其它方法相比，此计算公式简明、完善且直观，易于推广应用．

关键词： 机器人   动力学分析   图论  

摘要： 本文通过建立人臂形机械手动力学方程,论述了图论方法在机器人动力学分析中的应用,并就该方法的优越性、实用性等有关问题作了进一步的讨论。

关键词： 冗余度机器人   动力学   运动学  

摘要： 对冗余度机器人的运动学和动力学优化问题进行了比较研究，发展和完善了出休斯敦（Ｈｕｓｔｏｎ）提出的冗余多体系统动力学优化的咱然动力学解”的概念，并扩展其物理意义．同时，本文还给出了一些具体的优化结果．

关键词： Conceptual learning   Mobile robots   Baby Robot   Autonomous navigation   Multiresolutional knowledge  

摘要： In this thesis the autonomous robot is presented as a "baby" — that is, a system with no a priori knowledge of the world in which it operates, but with behavior acquisition techniques that allow it to build this knowledge from the experiences of actions within a particular environment. The learning techniques are rooted in a recursive algorithm for inductive generalization of nested schemata molded from processes of early cognitive development in humans. The algorithm extracts data from the environment and using clustering and abduction, it creates schemata interpreted as control rules. This system is robust enough to deal with a constantly changing environment; such changes provoke the creation of new schemata by further generalizing from experiences. The algorithm is capable of automatically generating the hierarchy of task decomposition, job that is performed in existing systems only by organizing the knowledge of a human-expert. The system searches in a multiresolutional knowledge base which it generates; thus, the complexity is pseudo-polynomial which ensures learnability. Although the traditional approach to autonomous navigation involves off-line path planning with a known world map, in most of the real tasks the environment is not well known because of ever-changing conditions of the assignment; absence of gravity; and sophisticated, hard to predict obstacles like components of the space stations, etc. Baby Robot gathers data from its sensors and then by using a schema-discovery system it extracts concepts, forms schemata and creates a quantitative/conceptual semantic network. Experimenting with Baby-Robot is important in unknown media because the rules of required behavior do not coincide with human intuitions. This thesis demonstrates that the simulated device leans unexpected schemata from its own experience. When the Baby Robot is first dropped onto a terrain, into space, or under water into the depths of the ocean, it does not have any experiences and i

关键词： 空间机器人   运动学   动力学  

摘要： 本文介绍空间机器人运动学和动力学控制.空间机器人是由操作手和卫星本体组成,在微小重力场工作(漂浮在空中),其运动学和动力学控制要比地面机器人复杂且有其特点,本文则主要综述它与地面机器人的不同之处及其研究成果,指出了当前的研究方向.

关键词： 机器人-基本知识  

ISBN: (纸本)7538120114

关键词： 树型结构   可重构机器人   机器人动力学   多机器人系统  

摘要： 本文提出一种新的具有树型结构的可重构机器人模型.首先研究了这种树型可重构机器人的模型及结构变化.接着研究了树型机器人的结构表征及运动学、动力学关系,这是研究树型可重构机器人的基础.然后研究了树型可重构机器人结构变化的表征,给出了一个结构变化阵和一个辅助的结构变化阵来表征其结构变化.最后建立了树型可重构机器人的运动学和动力学方程.

关键词： 柔性操作机   弹性动力学  

摘要： 针对几篇文献所载柔性机器人操作机构弹性动力学方程推导中存在的某些问题,本文作者作了进一步分析推导,提出了不同的推导结果.