关键词： 机器人   运动学   动力学   仿真系统  

摘要： 机器人学是近几十年来迅速发展起来的一门综合性的新兴学科。它涉及机械工程学、电气工程学、微电子工程学、计算机工程学、控制工程学、信息传感工程学、声学工程学、仿生学以及人工智能工程学等多门尖端学科。机器人的应用情况是一个国家工业自动化水平的重要标志。工业机器人是一种机械技术与电子技术相结合的高技术产品。采用工业机器人是提高产品质量与劳动生产率，实现生产过程自动化，改善劳动条件，减轻劳动强度的一种有效手段。目前机器人研究的热点及发展趋势其一是实现生产系统的机器人化，其二是开发智能机器人，工业机器人技术正在向智能化的方向发展。　　论文研究的关节型机器人属于工业机器人的一种，通过对关节型机器人的研究，我们可获得一般工业机器人的相关知识，如通过对关节型机器人的研究可以了解相关工业机器人的结构和运动原理等知识;通过关节型机器人的运动学研究可掌握相关工业机器人的运动学知识;通过对机器人进行运动学仿真，可获得一些与工业机器人控制有关的知识，使我们在对工业机器人进行控制方面积累一定的经验。　　本论文将根据机器人的机构特点，研究该机器人运动学和动力学方面的几个关键问题。首先，对机器人运动学进行理论研究，对机器人进行正、逆运动学分析，求出机器人运动方程的正、反解;对机器人雅可比矩阵进行了求解。其次，在求解速度和加速度方程的基础上对机器人动力学进行了理论研究。最后，在Solidworks软件中建立了机器人的三维模型，并将其导入到Adams软件中生成了机器人的虚拟样机模型，进而完成了对该机器人的运动学及动力学仿真分析，并得出了具体的分析结论。　　本论文研究的关节型机器人属于工业机器人的一种，通过对关节型机器人的研究，我们可获得一般工业机器人的相关知识，如通过对关节型机器人的研究可以了解相关工业机器人的结构和运动原理等知识;通过关节型机器人的运动学研究可掌握相关工业机器人的运动学知识;通过对机器人进行运动学仿真，可获得一些与工业机器人控制有关的知识，使我们在对工业机器人进行控制方面积累一定的经验。关节型机器人可以认为是工业机械手臂的一般代表，通过本课题的研究，我们就可以以关节型机器人为模型对工业机器人的结构进行改进，我们还可以利用对关节型机器人的控制研究改进工业机器人的控制方法。这样就可以在承担较少风险、花费较少资金的条件下完成对工业机器人的结构及控制方法的研究和改进。

摘要： Autonomous ground vehicles (AGVs) are expected to be used extensively in unstructured, outdoor, undulating environments for tasks such as search and rescue, homeland security, fire fighting, reconnaissance, and surveillance. These tasks will greatly benefit from efficient motion planning for the AGVs, which can only be accomplished by using correct dynamic and power models of the vehicles. Skid-steered vehicles are often used as outdoor mobile robots due to their robust mechanical structure and high maneuverability. Sliding along with rolling is inherent to general curvilinear motion, which makes both dynamic modeling and power modeling difficult. This research focuses on developing and experimentally verifying dynamic models of a skid-steered wheeled vehicle for general planar (2D) motion and for linear 3D motion. These models are characterized by the coefficient of rolling resistance, the coefficient of friction, and the shear deformation modulus, which have terrain-dependent values. The dynamic models also include motor saturation and motor power limitations, which enable correct prediction of saturated velocities when the vehicle works at its maximum velocity or power. This research employs the dynamics models for hill climbing by using Sampling Based Model Predictive Control, a novel motion-planing algorithm designed to use dynamic models. In addition this research also uses the developed dynamic models to derive the power models for skid-steered vehicles. The power models are described from the motor’s perspective and include both the mechanical power consumption and electrical power consumption. The power models reveal the interesting phenomenon that the inner motor consumes, generates and consumes power again while the vehicle turning radius decreases. Experiments were conducted to verify the validity of the dynamic models and power models for different scenarios with different trajectory, and also show the advantage of using dynamic models for motion planni

摘要： RHex is an autonomous hexapedal robot capable of locomotion on rough terrain. Up to now, most modelling and simulation efforts on RHex were based on the linear leg assumption. These models disregarded what might be seen as the most character- istic feature of the latest iterations of this robot: the half circular legs. This thesis focuses on developing a more realistic model for this specially shaped compliant leg and studying its effects on the kinematics and dynamics of the resulting platform. One important consequence of the half circular compliant leg is the resulting rolling motion. Due to rolling, the rest length of the leg changes and the leg-ground contact point moves. Another consequence is the varying stiffness of the legs due to the changing rest length. These effect the resulting behaviour of any platform using these legs. In the first part of the thesis we are studying the effects of the half circular leg morphology on the kinematics of RHex using a simple planar model. The rest of the studies within the scope of this thesis focuses on the effect of the half circular compliant legs on the dynamics of a single legged hopping platform with a point mass. The formulation derived in this work is successfully integrated in a readily working but rather simple model of a single legged hopping system. We replace the equations of the straight leg in this model by the equations of the half circular compliant leg. Realistic results are obtained in the simulations and these results are compared to those obtained by the simpler constant stiffness straight leg model. This more realistic leg model brings us the opportunity to further study the effects of this leg morphology, in particular the positive effects of the resulting rolling motion on platform stability.

关键词： somatic markers   reversal learning   reward prediction learning   prefrontal cortex   dynamic field theory   dynamical systems  

摘要： The somatic marker hypothesis (SMH) posits that the role of emotions and mental states in decision-making manifests through bodily responses to stimuli of import to the organism's welfare. The Iowa Gambling Task (IGT), proposed by Bechara and Damasio in the mid-1990s, has provided the major source of empirical validation to the role of somatic markers in the service of flexible and cost-effective decision-making in humans. In recent years the IGT has been the subject of much criticism concerning: (1) whether measures of somatic markers reveal that they are important for decision-making as opposed to behaviour preparation;(2) the underlying neural substrate posited as critical to decision-making of the type relevant to the task;and (3) aspects of the methodological approach used, particularly on the canonical version of the task. In this paper, a cognitive robotics methodology is proposed to explore a dynamical systems approach as it applies to the neural computation of reward-based learning and issues concerning embodiment. This approach is particularly relevant in light of a strongly emerging alternative hypothesis to the SMH, the reversal learning hypothesis, which links, behaviourally and neurocomputationally, a number of more or less complex reward-based decision-making tasks, including the 'A-not-B' task - already subject to dynamical systems investigations with a focus on neural activation dynamics. It is also suggested that the cognitive robotics methodology may be used to extend systematically the IGT benchmark to more naturalised, but nevertheless controlled, settings that might better explore the extent to which the SMH, and somatic states per se, impact on complex decision-making.

关键词： Intelligent sensors   Image processing   Visual perception   Robotics  

摘要： Purpose - The purpose of this paper is to present a novel image-labeling CMOS sensor for modulated marker detection. Design/methodology/approach - An image scene with multiple objects, each identified by a flashing light-emitting diode (LED), is captured by the sensor. The LED's frequency is a representation of the object ID-tag. The sensor detects and labels the objects by identifying the signal frequencies. The processing is performed in-pixel and, since the object detection task is simplified, power dissipation is reduced. A 64 x 64 pixel sensor is designed in the 0.6 mu m CMOS technology. Findings - Simulation results show successful object identification. At a frame rate of 250 fps the measured power consumption is 11 mW, which is less than those of the previously reported object detection solutions. The application of the presented sensor is shown in several different robotic fields such as unmanned aerial vehicles (UAVs) vision, household robots and industrial robots. It is also explained how the sensor can be used for low-power localization and position detection of the robot vehicles. Originality/value - The paper shows that the sensor is a suitable solution for low-power landmark detection and robot localization.

关键词： 影跃机器人   被动动力学   模拟退火法   庞加莱映射   牛顿-拉夫森法  

摘要： 单腿跳跃机器人能适应不同地形的需要,有效地替人完成各种任务。为更好地实现单腿跳跃机器人的运动能效性,提出了其被动动力学运动规划。机器人处于被动动力学运动状态下,其能耗将大为降低。为寻找单腿跳跃机器人的被动动力学周期运动轨道,很多学者以最简单的SLIP模型单腿跳跃机器人为对象,分别用近似解析解法和数值解法进行分析。结果表明,对于一般的单腿跳跃机器人系统,尚未有完善的分析方法,而对于单腿跳跃机器人这类混杂非线性系统,其对解的偏差比较敏感,因此需要比较精确的解来实现其被动动力学周期运动规划。 基于上述内容,本文提出了适用于混杂非线性动力学系统周期运动分析的一套完整数值算法。首先通过模拟退火算法计算出近似最优的系统初始状态值,并将此最优值作为数值迭代算法的初始值。在迭代算法中,采用庞加莱映射将周期运动问题转化为庞加莱界面上不动点的求解问题,进而通过牛顿-拉夫森算法进行数值求解。 针对混杂非线性动力学系统复杂的动力学行为,本文以范德波尔方程、达芬方程和Alpazur振子为例,通过相应的数值算法逐步揭示其丰富的动力学特征,同时提出了其数值求解时需要着重关注的时间参数问题,并给出了一般解决办法。 将本文提出的数值算法应用于SLIP模型单腿跳跃机器人系统的被动动力学分析,取得了预期的效果。通过对机器人的周期运动轨道进行划分,提取出了关于能量损耗的目标函数,并以此来求解近似最优的系统初始状态值。通过一系列的庞加莱映射将8维连续空间转化为7维的离散空间,进而通过牛顿-拉夫森算法进行迭代求解出相应庞加莱截面上的不动点。最后通过仿真找到了所给条件下的被动动力学周期运动轨道并就其能效性进行了分析。 文末,在下一步工作计划中就非SLIP模型单腿跳跃机器人被动动力学研究提出了一些思路。

关键词： 水下机器人-机械手系统   指数积   Kane方程   稳定性   冗余  

摘要： 伴随着人类社会的发展和物质文明的进步,陆地上的资源正日益枯竭,而为了满足人类社会发展对自然资源的需求,对蕴含丰富资源的海洋的开发显得愈发重要。在对海洋环境和资源进行考察和勘探作业中,带有机械手的水下机器人系统能够完成除观察监测任务外的更为复杂的操作任务,因此对水下机器人-机械手系统(Underwater Vehicle-Manipulator System,简称UVMS)动力学建模、运动控制及运动稳定性的研究具有重要的意义。 对于基座处于自由浮动状态的UVMS,本文采用指数积公式(product exponentials formula)分析其运动学问题,计算出了UVMS各个构件的速度及加速度表达式。在运动学分析的基础之上,得到了UVMS运动过程中的惯性力,并结合UVMS运动过程中所受到的水作用力和驱动力,本文运用Kane方程建立了UVMS的动力学模型。 在UVMS的运动过程中,机械手和水下机器人存在着动力学耦合,机械手的运动会导致水下机器人的运动。为了使得机械手展开过程中对处于浮游状态的水下机器人影响最小,应合理地规划机械手的展开轨迹,本文基于动平衡理论,研究机械手展开运动对水下机器人的摆动力和摆动力矩的变化。并以此为目标函数,采用遗传算法对机械手展开运动的参数进行了优化,最终获得了机械手展开过程中对水下机器人产生的摆动力和摆动力矩最小的运动规律,并用基于动力学模型的数值仿真验证了优化结果的正确性。 为了研究UVMS的运动稳定性问题,本文参照小扰动理论,对UVMS的非线性运动方程进行了线性化处理,获得了UVMS的线性化运动方程,并用李雅普诺夫第一方法对线性化运动方程的特征根进行了稳定性判定。 在对UVMS运动学冗余的处理过程中,本文采用基于模糊逻辑的任务优先级方法,合理地规划了水下机器人和机械手的运动,并考虑了UVMS运动过程中奇异位形和关节极限问题的处理,最后用数值仿真验证了此方法的有效性。

关键词： 被动式四足机器人   对角小跑   运动学   动力学   仿真  

摘要： 近年来,多足步行机器人的研究日益受到国内外众多机器人研究者的重视,已成为机器人研究的一个重要分支。目前,常见的步行机器人有二足式、四足式、六足式。其中,四足步行机器人机构简单且灵活,承载能力强、稳定性好,既能以静态步行方式实现慢速行走,又能以动态步行方式实现高速行走。因此,在抢险救灾、探险、娱乐及军事等许多方面有很好的应用前景,其研制工作一直受到重视。本文在分析国内外四足机器人研究现状的基础上,提出了一种被动式四足机器人的本体结构,并对其进行了深入分析。 本文在结合山东科技大学研究生创新基金项目“复杂环境下负重四足机器人的运动学与动力学研究”的研究基础上,通过对原样机的试验与分析,提出了一种被动式四足机器人机械本体结构。利用D-H法对被动式四足机器人进行运动学分析,给出了运动学方程的正、逆求解,并得出了机器人的速度雅可比矩阵。利用虚拟样机技术,完成了基于UG的三维建模,并将其导入ADAMS中,对被动式四足机器人对角小跑的典型步态进行了运动学建模与仿真分析。结合被动式四足机器人的行走环境,进行了动力学仿真,分析了机器人的影响动力学特性不稳定的因素,为基于被动式四足机器人的优化设计提供了另一种方法。 该机器人通过加工制造与装配,在实验室条件下进行试验。经实验证明：该机器人成功完成对角小跑步态,具有结构紧凑、体积小、重量轻、控制简单等特点。

关键词： 虚拟机器人   竞赛   指导师   参赛选手   教学  

摘要： 本文结合开展虚拟机器人的教学及竞赛过程,从教师和学生的角度来谈谈如何更好地开展这项活动,以及开展这项活动的现实意义.

关键词： surgical robotics   training robotics   optimisation of surgical procedures   surgical techniques evaluation  

摘要： Robotics has shown its potential not only in assisting the surgeon during an intervention but also as a tool for training and for surgical procedure's evaluation. Thus, robotics can constitute an extension of simulators that are based on the high capabilities of computer graphics. In addition, haptics has taken a first step in increasing the performance of current virtual reality systems based uniquely on computer simulation and their corresponding interface devices. As a further step in the field of training and learning in surgery, this work describes a robotic experimental workstation composed of robots and specific measuring devices, together with their corresponding control and monitoring strategies for orthopaedic surgery. Through a case study, humerus arthroplasty, experimental evaluation shows the possibilities of having a test bed available for repetitive and quantifiable trials, which make a reliable scientific comparison between different surgical strategies possible.