关键词： 机器人教学   实训室建设   工业机器人   测试技术   最佳平台   操作能力   技术培训   机器人竞赛   微机原理   设计方案  

摘要： 一、引言职业教育是以就业为导向、实际动手操作能力训练为宗旨的技术培训教育。机器人是一个综合的平台,涉及到机械、电子、计算机、材料、自动控制、传感器及测试技术、软件编程等学科。工业机器人是先进制造的核心环节的关键技术。

关键词： 机器人大赛   游江苏  

摘要： 本文介绍了一种自主研发的竞赛用游江苏机器人。该机器人硬件采用模块化设计,核心控制器采用了国内少见的双核设计,并采用多种传感器来满足竞赛要求。软件方面根据比赛场地选择了最优算法。经过实际比赛的检验,证明了该设计的有效性和先进性。

关键词： 移动焊接机器人   焊缝跟踪控制系统   球罐焊接   模糊神经网络  

摘要： 随着我国在造船、石油、能源、建筑、机械等领域的不断发展，大型结构件焊接的场合越来越多，要求焊接机器人的移动范围越来越大。目前应用于这些场合的焊接机器人多为有轨式的，这种机器人在焊接之前需要先铺设轨道，准备时间长并且价格昂贵。在弯曲焊缝焊接的场合，由于轨道很难与被焊工件轮廓完全相同，使得焊接的精度不高，影响焊接的质量。相对于有轨式焊接机器人，移动焊接机器人由于具有机构简单，适应性强，能够在非结构环境下进行作业等特点，在造船工业、大型球罐焊接等方面具有广阔的应用前景。\n 本文在河北省教育厅科学研究计划项目“基于视觉管道焊接机器人焊缝跟踪控制系统设计(2007309)”的支持下，以实验室已有的移动焊接机器人平台为研究对象，主要研究内容如下：\n 1)建立了移动焊接机器人焊接时的运动学模型，基于牛顿-欧拉法建立了移动焊接机器人的统一动力学模型。\n 2)设计了自适应模糊控制器和高斯基模糊神经网络控制器对十字滑块和车轮进行协调控制，在跟踪误差较小时由十字滑块快速消除误差，误差较大时由十字滑快和移动平台共同消除误差。\n 3)从移动焊接机器人动力学模型出发，设计了神经网络动力学控制器，实现各个轴的速度跟踪，利用单层神经元网络的自学习和自适应能力克服机器人模型参数部分未知和扰动的影响，在线补偿动力学耦合和未建模的系统扰动，使跟踪更加快速、平滑。利用Lyapunov 稳定性判据，证明了所选取的控制力矩输入使系统全局渐进稳定。\n 4)采用LabVIEW 编程平台，根据所设计的焊缝跟踪控制算法编制了控制系统软件。\n 5)采用MATLAB和ADAMS软件对所提出的控制算法进行了联合仿真；通过焊接实验验证了提出的相关理论、方法的合理性与有效性。

关键词： 移动焊接机器人   焊缝跟踪   积分Backstepping方法   神经网络   Lyapunov函数  

摘要： 为了解决轮式移动焊接机器人的焊缝跟踪问题,从移动焊接机器人的运动学和动力学模型出发,采用分段运动学到动力学的方法设计焊缝跟踪控制器。控制算法结合积分Backstepping算法和单层神经元网络控制算法,利用单层神经元网络的自学习和自适应能力克服机器人模型参数部分未知和扰动的影响,使跟踪更加快速、平滑。在选定系统Lyapunov函数基础上,证明了所选取的控制力矩输入使系统全局渐进稳定。经MATLAB仿真验证了该控制算法的有效性。

关键词： ROBOTS -- Design & construction   PERSONAL robotics   MILITARY robotics   ROBOTICS in medicine  

摘要： The article examines the use of robots that can navigate changing environments, such as offices, and work with hands. Robots have been used in the military, medicine, and households in which they perform specifically-designed tasks. Topics include a brief overview of the design and construction of a multipurpose robot, the PR2 (Personal Robot 2), by the U.S. start-up company Willow Garage, and the challenges of producing all-purpose robots.

关键词： neuroArm   imaging-guided surgery   robotic surgery   clinical integration   stereotaxy   microsurgery   neurosurgery   rat  

摘要： Robotic systems are being introduced into surgery to extend human ability. NeuroArm represents a potential change in the way surgery is performed;this is the first image-guided, MR-compatible surgical robot capable of both microsurgery and stereotaxy. This paper presents the first surgical application of neuroArm in an investigation of microsurgical performance, navigation accuracy, and Phase I clinical studies. To evaluate microsurgical performance, 2 surgeons performed microsurgery (splenectomy, bilateral nephrectomy, and thymectomy) in a rodent model using neuroArm and conventional techniques. Two senior residents served as controls, using the conventional technique only (8 rats were used in each of the 3 treatment groups;the 2 surgeons each treated 4 rats from each group). Total surgery time, blood loss, thermal injury, vascular injury, and animal death due to surgical error were recorded and converted to an overall performance score. All values are reported as the mean +/- SEM when normally distributed and as the median and interquartile range when not. Surgeons were slower using neuroArm (1047 +/- 69 seconds) than with conventional microsurgical techniques (814 +/- 54 seconds;p = 0.019), but overall performance was equal (neuroArm: 1110 +/- 82 seconds;microsurgery: 1075 +/- 136 seconds;p = 0.825). Using microsurgery, the surgeons had overall performance scores equal to those of the control resident surgeons (p = 0.141). To evaluate navigation accuracy, the localization error of neuroArm was compared with an established system. Nanoparticles were implanted at predetermined bilateral targets in a cadaveric model (4 specimens) using image guidance. The mean localization error of neuroArm (4.35 +/- 1.68 mm) proved equal to that of the conventional navigation system (10.4 +/- 2.79 mm;p = 0.104). Using the conventional system, the surgeon was forced to retract the biopsy tool to correct the angle of entry in 2 of 4 trials. To evaluate Phase I clinical integration, t

摘要： There are many potential advantages of using robotics for resection of the left colon and the sigmoid colon. These include stable traction of the vascular pedicles, preservation of the aortic and the hypogastric nerve plexus, improved accessibility for take-down of the splenic flexure, and easily applicable intracorporeal colorectal or colocolic anastomosis. This chapter provides a detailed description of the technique used in a robotic dissection for a left colectomy or sigmoidectomy. (C) 2009 Elsevier Inc. All rights reserved.

摘要： Various surgical options exist for patients with pelvic organ prolapse. Conventionally, open procedures have been performed laparoscopically with similar results and fewer morbidity. However, widespread use of laparoscopy to treat rectal and vaginal vault prolapse has been limited by the technical challenges of performing these surgeries with a minimally invasive approach. Robotic surgery allows for improved visualization and ergonomics, enabling the surgeon to perform complicated procedures more easily. Robotically assisted laparoscopic rectopexies and sacrocolpopexies have been shown to have excellent results but they increase operative time and cost. Further investigation is needed to demonstrate clear advantages to using this approach over conventional laparoscopy. (C) 2009 Elsevier Inc. All rights reserved.

关键词： Genetic programming   Computer vision   Mobile robotics   Obstacle avoidance  

摘要： The purpose of this work is to automatically design vision algorithms for a mobile robot, adapted to its current visual context. In this paper we address the particular task of obstacle avoidance using monocular vision. Starting from a set of primitives composed of the different techniques found in the literature, we propose a generic structure to represent the algorithms, using standard resolution video sequences as an input, and velocity commands to control a wheel robot as an output. Grammar rules are then used to construct correct instances of algorithms, that are then evaluated using different protocols: evaluation of trajectories performed in a goal reaching task, or imitation of a hand-guided trajectory. A genetic program is applied to evolve populations of algorithms in order to optimize the performances of the controllers. The first results obtained in a simulated environment show that the evolution produces algorithms that can be easily interpreted and which are clearly adapted to the visual context. However, the resulting trajectories are often erratic, and the generalization capacities are poor. To improve the results, we propose to use a two-phase evolution combining imitation and goal reaching evaluations, and to add some constraints in the grammar rules to enforce a more generic behavior. The results obtained in simulation show that the evolved algorithms are more efficient and more generic. Finally, we apply the imitation based evolution on real sequences and test the evolved algorithms on a real robot. Though simplified by dropping the goal reaching constraint, the resulting algorithms behave well in a corridor centering task, and show certain generalization capacities.

关键词： Discrete event systems   Mobile robots   Planning   Supervisory control   Surveillance  

摘要： This paper focuses on the control system for an autonomous robot for the surveillance of indoor environments. Our approach proposes a matrix-based formalism which allows us to merge in a single framework discrete-event supervisory control, conflict resolution and reactive control. As a consequence, the robot is able to autonomously handle high level tasks as well as low-level behaviors, solving control and decision-making issues simultaneously. Moreover, the matrix-based controller is modular and can be easily reconfigured if mission characteristics or robot hardware configuration change. An illustrative example and a report on experimental investigations are provided to illustrate the main features of the proposed approach.