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81.
Although robots tend to be as competitive as CNC machines for some operations, they are not yet widely used for machining operations. This may be due to the lack of certain technical information that is required for satisfactory machining operation. For instance, it is very difficult to get information about the stiffness of industrial robots from robot manufacturers. As a consequence, this paper introduces a robust and fast procedure that can be used to identify the joint stiffness values of any six-revolute serial robot. This procedure aims to evaluate joint stiffness values considering both translational and rotational displacements of the robot end-effector for a given applied wrench (force and torque). In this paper, the links of the robot are assumed to be much stiffer than its actuated joints. The robustness of the identification method and the sensitivity of the results to measurement errors and the number of experimental tests are also analyzed. Finally, the actual Cartesian stiffness matrix of the robot is obtained from the joint stiffness values and can be used for motion planning and to optimize machining operations. 相似文献
82.
Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms 总被引:1,自引:0,他引:1
We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems. 相似文献
83.
84.
轮式移动机器人的位置量测输出反馈轨迹跟踪控制 总被引:1,自引:0,他引:1
针对机器人的姿态角难以精确测量的困难,本文研究基于位置测量的轮式移动机器人的轨迹跟踪问题.首先提出一种利用机器人的位置信息估计其姿态角的降维状态观测器,当机器人的线速度严格大于零时,可保证姿态角观测误差的指数收敛.然后给出一种新的状态反馈轨迹跟踪控制律,当参考轨迹满足一定的激励条件时,可以保证机器人的线速度严格大于零且跟踪误差全局渐近收敛.进一步结合姿态角观测器和状态反馈控制律,得到一种输出反馈轨迹跟踪控制算法.理论分析表明,当参考轨迹满足一定的激励条件时,所提出的输出反馈控制算法可以保证跟踪误差的全局渐近收敛.最后对所提出的姿态角观测器、状态反馈和输出反馈轨迹跟踪控制算法进行了仿真验证,证实了算法的有效性,并且当存在位置测量误差时,所提出的输出反馈轨迹跟踪控制算法仍可以保证机器人对参考轨迹的实际跟踪. 相似文献
85.
We propose a hybrid approach specifically adapted to deal with the autonomous-navigation problem of a mobile robot which is subjected to perform an emergency task in a partially-known environment. Such a navigation problem requires a method that is able to yield a fast execution time, under constraints on the capacity of the robot and on known/unknown obstacles, and that is sufficiently flexible to deal with errors in the known parts of the environment (unexpected obstacles). Our proposal includes an off-line task-independent preprocessing phase, which is applied just once for a given robot in a given environment. Its purpose is to build, within the known zones, a roadmap of near-time-optimal reference trajectories. The actual execution of the task is an online process that combines reactive navigation with trajectory tracking and that includes smooth transitions between these two modes of navigation. Controllers used are fuzzy-inference systems. Both simulation and experimental results are presented to test the performance of the proposed hybrid approach. Obtained results demonstrate the ability of our proposal to handle unexpected obstacles and to accomplish navigation tasks in relatively complex environments. The results also show that, thanks to its time-optimal-trajectory planning, our proposal is well adapted to emergency tasks as it is able to achieve shorter execution times, compared to other waypoint-navigation methods that rely on optimal-path planning. 相似文献
86.
87.
一种基于免疫原理的自律机器人行为控制算法 总被引:8,自引:1,他引:7
生物体免疫系统是一个高度复杂的分布协调自适应系统。文章基于免疫学的细胞克隆选择学说和 Jerne网络调节理论,介绍一种人工免疫系统模型及算法,并应用于自律移动机器人的行为控制研究,模拟实验结果表明,该算法能有效增强自律移动机器人在动态环境中的自适应能力。 相似文献
88.
改进的进化编程及其在机器人路径规划中的应用 总被引:12,自引:1,他引:11
本文对进化编程中的变异概率进行改进,提高了进化计算的速度,并运用于机器人路
径规划,得到次优路径和可行的运算效率. 相似文献
89.
In this article, we review the growth of AROB conferences, and assess the various contributions, which have covered digital
life, the artificial brain, artificial society, and evolutionary robots, etc. We analyze the relations between artificial
life, complexity, and intelligent robots, and finally give our view of the expected future of AROB.
This work was presented in part at the 5th International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28,
2000 相似文献
90.
In this paper, we describe the implementation of a heterogeneous cooperative multi-robot system that was designed with a goal of engineering a grounded symbolic representation in a bottom-up fashion. The system comprises two autonomous mobile robots that perform cooperative cleaning. Experiments demonstrate successful purposive navigation, map building and the symbolic communication of locations in a behavior-based system. We also examine the perceived shortcomings of the system in detail and attempt to understand them in terms of contemporary knowledge of human representation and symbolic communication. From this understanding, we propose the Adaptive Symbol Grounding Hypothesis as a conception for how symbolic systems can be envisioned. 相似文献