关键词： 柔性杆柔性铰机器人   载荷   刚-柔耦合   动力学  

摘要： 为了研究柔性机器人在做大范围运动时关节铰的柔性以及杆端载荷对机器人运动响应的影响,对带有载荷的柔性机器人进行了刚柔耦合动力学建模。将柔性铰的柔性简化为线弹性扭簧,计及柔性铰质量。考虑柔性杆横向弯曲变形和纵向拉伸变形,且在纵向位移中计及由于横向变形而引起的纵向缩短项,即非线性耦合变形项。采用假设模态法描述柔性杆变形,运用第二类Lagrange方程推导得到了带有载荷的柔性杆柔性铰机器人的刚柔耦合动力学方程。求解这组方程得到柔性机器人的动力学性态。将带有载荷的柔性杆柔性铰机器人与不带载荷的柔性杆柔性铰机器人对比发现,柔性杆末端载荷增大了系统的响应幅值,降低了响应频率。将柔性杆柔性铰机器人与柔性杆刚性铰机器人对比发现,铰的柔性作用同样使系统的响应幅值增大,响应频率减小了。

关键词： 机器人学   机器人技术  

摘要： 本文简介国内外机器人学科学和机器人技术的发展情况,着重概述了机器人学学科和机器人技术合作发展的历史,并从中得到三点启示,即国际上机器人技术和机器人学学科是依靠大联合大合作实现大发展的;没有进行全国性的"产学研"大合作是中国机器人技术未能获得长足发展的重要原因;建立全国性的机器人学学术组织是我国机器人产业大发展必不可少的要素。基于这些启示,提出了尽快成立中国机器人学联合会、设立中国机器人协会和发展机器人学教育等历史使命。

关键词： 自由漂浮空间机器人   动力学奇异   非完整   轨迹规划  

摘要： 针对非完整约束导致的自由漂浮空间机器人广义雅可比矩阵动力学奇异性问题,提出一种间接求解机器人逆运动学的方案.该方案通过运动方程分解并构造迭代函数,将动力学奇异转换为运动学奇异问题,避免直接求解逆广义雅可比矩阵,解决广义雅可比矩阵动力学参数相关特性问题,仿真结果表明该方法能够有效地实现自由漂浮空间机器人回避动力学奇异的非完整轨迹规划.

关键词： 球形机器人   动力学   凯恩方法  

摘要： 利用凯恩方法建立了非理想条件下球形机器人的动力学模型。分析了关节摩擦、滚动摩阻力矩、球壳不圆对球形机器人运动特性的影响,给出了球形机器人运动过程中球壳打滑问题产生的原因,仿真结果为球形机器人控制策略和机械设计提供了理论依据。

摘要： Highlights ► Robotic surgery may offer potential advantages over laparotomy in patients with gynecologic cancer. ► Advantages of robotic surgery over traditional laparoscopic surgery remain to be defined. ► Guidelines for robotic surgery credentialing and training should be defined and future development encouraged.

关键词： Proactive visual attention   Multiple time recurrent neural networks   Premotor theory of visual attention   Multiple objects manipulation task  

摘要： The current paper proposes a novel model for integrative learning of proactive visual attention and sensory-motor control as inspired by the premotor theory of visual attention. The model is characterized by coupling a slow dynamics network with a fast dynamics network and by inheriting our prior proposed multiple timescales recurrent neural networks model (MTRNN) that may correspond to the fronto-parietal networks in the cortical brains. The neuro-robotics experiments in a task of manipulating multiple objects utilizing the proposed model demonstrated that some degrees of generalization in terms of position and object size variation can be achieved by organizing seamless integration of the proactive object-related visual attention and the related sensory-motor control into a set of action primitives in the distributed neural activities appearing in the fast dynamics network. It was also shown that such action primitives can be combined in compositional ways in acquiring novel actions in the slow dynamics network. The experimental results presented substantiate the premotor theory of visual attention.

关键词： Dynamics modeling   Kinematics   Lagrange equations   Parallel mechanism   Virtual work  

摘要： Recursive matrix relations for kinematics and dynamics analysis of two known parallel mechanisms: the spatial 3-PRS and the planar 3-RRR are established in this paper. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities, and accelerations of the robot's elements. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work, and the results can be verified in the framework of the Lagrange equations with their multipliers. Finally, compact matrix equations and graphs of simulation for power requirement comparison of each of three actuators in two different actuation schemes are obtained. For the same evolution of the moving platform, the power distribution upon the three actuators depends on the actuating configuration, but the total power absorbed by the set of three actuators is the same, at any instant, for both driving systems. The study of the dynamics of the parallel mechanisms is done mainly to solve successfully the control of the motion of such robotic systems.

关键词： COMPUTER algorithms   SPACE robotics   SAMPLING (Process)  

摘要： An introduction is presented in which the editors discuss various reports within the issue on topics including algorithmic robotics, path correction, and sampling-based motion planning algorithms.

关键词： 工业机器人   机器人动力学   机器人PID控制  

摘要： 当机器人运行于高速条件下时,整个系统将处于一种不稳定的状态。对高速运动条件下的机器人动力学进行了深入的研究。首先,对研制的6自由度搬运机器人平台硬件结构进行了介绍。在此基础上,对高速运动的机器人的动力学表达式式进行了分析,得到了造成机器人高速运动动力学效应的状态参量—机器人的关节角θ、关节角速度θ觶与关节角加速度θ咬,结合机器人样机的PID主控制器,定性探索了机器人的动力学参量与PID控制器参量间的关系规律,为后续的控制器设计提供依据。

关键词： ROBOTICS   NONFICTION  

摘要： With the increasing application of unmanned robotic systems in warfare such as Predator drone aircraft geographies of war must now attend to a whole new class of cultural productions: the actions of robots. With sea and air-based robotic systems also very much in the mix, Singer offers a strong case that the ongoing shift to robotics is a revolutionary change that will restructure military geographies, transform how we fight wars, and fundamentally blur conceptions of what it means to be a soldier. book reviews 133 Singer initially comes across as a giddy aficionado of military robots, declaring in his opening sentence that, robots are frakin cool. Nick Dyer-Witheford and Greig de Peuter have written a wonderful book that earns its place within a growing genre of books, including McKenzie Warks Hacker Manifesto, Alexander Galloways Gaming: Essays on Algorithmic Culture, Tiziana Terranovas Network Culture: Politics for the Information Age, and Franco Bifo Berardis Precarious Rhapsody: Semiocapitalism and the Pathologies of the Post-Alpha Generation, all of which combine contemporary radical social theory with an in-depth analysis of the Liberatory possibilities of new media technologies.