用JAVA开发的机器人遥操作系统

基于WEB服务器的机器人控制把传统机器人控制技术和最近数十年兴起的INTERNET技 术结合到了一起．由于现在INTERNET技术的普及，这种技术结合消除了传统机器人在普通大 众前的神秘感，使机器人的应用层次达到了普通百姓的认识层次．文章着重介绍了如何用Ja va语言开发遥操作系统．在设计该技术时充分考虑了机器人控制的实用性以及所采用的各种 INTERNET通讯技术以满足传统机器人的控制要求．     

微操作机器人的研究现状与发展趋势

随着科学技术向微小、超精密领域的方向发展，机器人所要操作的对象也从宏观领域扩展到亚微米、纳米级的微观领域．因此，由微定位技术与机器人技术结合而产生的微操作机器人是机器人领域的新的研究方向，具有广阔的应用前景．本文总结了国内外微操作机器人领域的发展现状，介绍了微操作机器人的结构特点，列举了其部分的应用实例，在文章的最后展望了微操作机器人的发展趋势．     

蛇形机器人控制系统的设计与实现

以蛇为模型的蛇形机器人的研究，扩大了机器人的应用领域．本文基于CAN总线技术完成了蛇形机器人控制系统的设计及研制，有效地实现了机器人的运动控制．在此基础上完成了蛇形机器人的集中式控制和分布式控制方式．     

生物芯片微阵列分配机器人系统的研制和开发

生物芯片是21世纪的前沿研究领域，高密度微阵列技术是生物芯片的技术基础之一 ，而接触式机器人点涂技术作为最重要的微阵列分配技术之一，越来越为全世界所重视．本 文介绍了清华大学研制的集成化生物芯片微阵列分配机器人系统，以及用这套系统制作生物 芯片微阵列的点涂实验及其结果分析．微阵列分配机器人系统开辟机器人技术新的应用领域 ，为我国在生命科学领域的研究提供新的自动化装备．     

基于网络的机器人控制技术研究现状与发展

随着网络技术的飞速发展，传统的机器人控制技术与先进的网络通讯技术不断融合 ，使基于网络的机器人控制技术也得以不断发展．本文首先介绍了国内外基于网络的机器人 控制技术的研究现状，对其研发的技术特点和应用领域进行了着重分析，并对这一研究领域 的发展方向进行了探讨．     

微型五维指尖力/力矩传感器的研究

本文介绍了RPJ D型喷浆机器人的机械机构，重点给出了其分布式计算机控 制系统的设计过程．将容错技术、故障诊断技术和抗恶劣环境技术引入喷浆机器人控制系统 中，采用不同的冗余配置方式实现了控制系统规划级和控制级计算机系统高可靠性设计．现 场应用表明，完全满足了喷浆机器人在恶劣环境下工作的要求．     

水下机器人通用实时控制软件研究与实现

随着水下机器人技术的市场化，水下机器人通用实时控制软件成为研究热点．本文在总结水下机器人功能的基础上提出了水下机器人通用实时控制软件的三层体系结构．并介绍了按照这一体系结构开发出的一套水下机器人通用实时控制软件．     

RPJ-D型喷浆机器人机械结构及其分布式计算机控制系统的可靠性设计

本文介绍了RPJ-D型喷浆机器人的机械机构，重点给出了其分布式计算机控 制系统的设计过程．将容错技术、故障诊断技术和抗恶劣环境技术引入喷浆机器人控制系统 中，采用不同的冗余配置方式实现了控制系统规划级和控制级计算机系统高可靠性设计．现 场应用表明，完全满足了喷浆机器人在恶劣环境下工作的要求．     

基于C/S模型机器人控制器的研究及其应用

随着网络通信技术的发展和控制系统的革新，如何将网络技术应用到机器人系统，使机器人 达到开放式、分布式的网络控制系统，是目前机器人控制器研究的热点．本文提出了基于C/ S（Client/Server）模型的机器人控制器实现原理，阐述基于Win NT操作系统的RPC（Remot e Process Call）机制的机器人控制网络客户服务器程序的开发，并实现了软件的DCOM封装 ．最后，以实例说明了利用DCOM技术开发的Win NT操作系统下的Win32机器人柔性自动化应 用程序和基于Web的远程机器人监控系统，显示了基于C/S模型的机器人控制器分布式控制网 络的优点．     

医用机器人运动学参数最优化设计

提出了一种实用的医用机器人运动学参数误差的优化补偿方法．采用D-H方法建立起机器人连杆坐标系．在运动学分析和模型变换的基础上，运用数值优化技术建立了机器人运动学参数的误差方程，实现了运动学参数的优化设计，有效提高了机器人的重复定位精度．以仿真和实验验证的方式对优化结果进行了分析．     

集群机器人系统特性评价研究综述

集群机器人系统是群体智能的一个重要应用研究领域, 也是机器人系统未来发展的重要方向之一. 集群机器人系统特性评价是一个极具挑战性的关键技术与理论问题, 对于集群机器人系统的研究与发展具有重要意义. 首先, 给出了对集群机器人系统基本概念的理解, 并且从多种不同角度作出了分类. 其次, 梳理了多个关键的集群机器人系统期望特性; 在此基础上, 分别从评价标准、评价指标体系和评价方法三方面对已有集群机器人系统特性评价研究成果进行了比较全面的评述. 最后, 分析总结了当前集群机器人系统特性评价研究工作的不足, 并对未来发展方向进行了展望.     

Mission-level path planning and re-planning for rover exploration

The Life in the Atacama (LITA) project seeks to develop technologies for robotic life detection and apply them to the investigation of the Atacama Desert. Its field investigation in 2005 will demonstrate highly autonomous robotic science and daily multi-kilometer traverses over several weeks. A key component is mission-level path planning, which combines large-scale route selection, path and activity timing, and predictive energy management. Its purpose is to yield high-level plans for locomotion, solar charging and hibernation. We describe this new level of robotic autonomy and illustrate its performance from the field experiments in 2003.     

人工智能技术在机器人运动规划中的应用

机器人的运动规划问题是机器人学和人工智能中的一个重要课题。总结了国内外在机器人运动规划领域的一些典型算法,讨论了各种人工智能技术在运动规划中的应用,介绍了在空间机器人运动规划课题研究中的一些成果。     

A review on model reference adaptive control of robotic manipulators

The accuracy of the motion control for robotic mechanisms will have an effect on their overall performance. Under the condition where the robotic end-effector carries different loads, the motions for each joint of robotic mechanisms change depending on different payload masses. Conventional control systems possess the potential issue that they cannot compensate the load variation effect. Adaptive control, especially the model reference adaptive control (MRAC), has therefore been put forward to handle the above issue. Adaptive control is generally divided into three categories, model reference, self-tuning and gain-scheduled. In this study, the authors only focus on the model-reference approach. To the best of the authors’ knowledge, very few recent research articles can be found in the area of MRAC especially for robotic mechanisms since robotic system is a highly nonlinear system, and it is difficult to guarantee the stability of MRAC in such system. This study presents a review and discussion on the MRAC of robotic mechanisms and some issues of MRAC for robotic mechanisms are also demonstrated. This study can provide a guideline for upcoming research in the field of MRAC for robotic mechanisms.     

Fully Bayesian Field Slam Using Gaussian Markov Random Fields

This paper presents a fully Bayesian way to solve the simultaneous localization and spatial prediction problem using a Gaussian Markov random field (GMRF) model. The objective is to simultaneously localize robotic sensors and predict a spatial field of interest using sequentially collected noisy observations by robotic sensors. The set of observations consists of the observed noisy positions of robotic sensing vehicles and noisy measurements of a spatial field. To be flexible, the spatial field of interest is modeled by a GMRF with uncertain hyperparameters. We derive an approximate Bayesian solution to the problem of computing the predictive inferences of the GMRF and the localization, taking into account observations, uncertain hyperparameters, measurement noise, kinematics of robotic sensors, and uncertain localization. The effectiveness of the proposed algorithm is illustrated by simulation results as well as by experiment results. The experiment results successfully show the flexibility and adaptability of our fully Bayesian approach in a data‐driven fashion.     

基于蚯蚓运动原理的肠道检查微小机器人内窥镜系统

本文比较了传统的内窥镜系统和机器人内窥镜系统的差别，又对机器人内窥镜系统 的工作环境——人体肠道内部的状况作了详细讨论，由此提出了机器人内窥镜系统的设计要 求．介绍了一种基于蚯蚓运动原理的微小机器人内窥镜系统，对微小机器人机体的构造及其 驱动原理作了分析，选择了一种适合的驱动方式，确定了单一构件磁感应强度的标定方法． 实验证明，微小机器人的运行是平稳的．下一步的研究集中于对机器人在肠道内表面行走机 理的研究和机器人的发热问题上．     

From 3 fingers to 5 fingers dexterous hands

Abstract

This document presents a resume of several robotic hands from 1983 to 2016, its aim is to cover this rapidly evolving field of robotics and provide relevant information about the designs and current developments. The characteristics of the hands are enlisted and compared in terms of weight, grasping power/load capacity, degrees of actuation, degrees of freedom and finger configuration. Some prosthetic hands are presented to show their similarities with the robotic ones. A clear design tendency is seen while the gap between merely robotic hands and prosthetic limbs closing. The final parts of this document expose the trends in design of robotic hands, human inspired or not. The design tends to be compliant providing high number of degrees of freedom achieving high dexterity but decreasing the number of actuators, these characteristics can provide robust performance. Finally, we suggest the standardisation on the development process of the robotic hands as most of them are meant to be used in household robots and human–robot interaction.     

航空领域机器人自动钻孔研究进展及关键技术综述

为促进航空航天领域机器人自动钻孔技术的研究，本文介绍了国内外在该领域的研究进展，概述与总结了机器人钻孔离线编程、终端执行器、系统误差补偿等关键技术所包涵的核心思想及算法，梳理了研究中存在的问题和可能的解决方案，探讨了各关键技术对机器人自动钻孔系统产生的影响，最后在总结研究成果与分析的基础上对各关键技术的发展方向做出了展望。     

Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device

Rehabilitation robotics is a growing field where the study of human movement is one of the key topics. Mechanisms development in terms of analysis and synthesis in the field is relatively new, particularly in the case of parallel robotic mechanisms. This paper presents the background and details of current research into the use of parallel robotic mechanisms for rehabilitation of sprained ankles, and proposes a new device based on a parallel mechanism with a central strut.The paper investigates a new technique in motion analysis of ankle movement which is presented in an orientation image space and in that of a rehabilitation therapy, presents an approach of mechanism synthesis based on this analysis, and develops several parallel mechanisms with a central strut for ankle rehabilitation. This is then related to the analysis of the stiffness effect of the central strut in the platform-type mechanism and the stiffness matrix is decomposed with the part resulting from the central strut which supports ankle rehabilitation.In presenting this new research, the paper relates the study of mechanisms to that of rehabilitation robotics and presents a strong case in the new application of parallel robotic mechanisms.     

Adaptive control of single rigid robotic manipulators interacting with dynamic environment — An overview

This paper presents the current state of the art in the adaptive control of single rigid robotic manipulators in the constrained motion tasks. A complete mathematical model of a single rigid robotic manipulator in contact with dynamic environment is presented. The basic approaches in deriving the environment model are given. The significance of the dynamic environment in the scope of the stability problem of the whole system robot-dynamic environment is emphasized. A classification of the adaptive contact control concepts in manipulation robotics is presented. The main characteristics of the most important adaptive strategies in constrained manipulation are given. The advantages and the drawbacks of the presented methods are emphasized. The paper covers results published a few years ago, as well as some recent trends in this field. One important result in the stability analysis of robotic manipulators in the constrained motion tasks is reported. Finally, some concluding remarks are given and possible future investigation trends in adaptive control of robotic manipulators are indicated.