【正文】 工作。機械臂使機械手產生各軸的運動。機器人控制器是工作單元的核心。接著，控制器給機床發(fā)出開始加工的信號。給予微處理器的系統(tǒng)運行時要與固態(tài)的存儲裝置相連，這些存儲裝置可以是磁泡，隨機存儲器、軟盤、磁帶等。例如液壓系統(tǒng)在長距離上比機械系統(tǒng)更能經濟地傳遞動力。油液貯存和調節(jié)裝置：用來確保提供足夠質量和數(shù)量并冷卻的液體。圖131是一個使飛機駕駛員升起和落下起落架的液壓系統(tǒng)，當飛行向某方向移動控制閥，壓力油流入液壓缸的某一腔從而降下起落架。另外，只需要輸入很小的扭矩就能產生滿足極其惡劣的工作條件所需的控制力，這對于因操作空間限制而需要小方向盤的場合很重要，這也是減輕司機疲勞度所必須的。氣壓系統(tǒng)通常考慮采用大的中央空氣壓縮機作為一個無限量的氣源，這類似于電力系統(tǒng)中只要將插頭插入插座邊可獲得電能。然而，由于空氣的可壓縮性，使得氣壓系統(tǒng)執(zhí)行組件不可能得到精確的速度控制和位置控制。隨著科學技術的發(fā)展和人類知識水平的提高，人們越來越認識到污水處理的重要性和迫切性，科學家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。運動學分析是路徑規(guī)劃和軌跡控制的基礎，對操作臂進行了運動學正、逆問題的分析可以完成操作空間位置和速度向驅動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態(tài)隨關節(jié)夾角之間的變換關系，采用幾何法分析了操作臂的逆向運動學方程求解問題，對控制系統(tǒng)設計提供了理論依據(jù)。步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。and at the vicinity of global optimum, with longer length chromosome and lower probability of crossover and , testing with some critical functions shows that our solution can improve the convergence speed of genetic algorithm significantly , its prehensive performance is better than that of the genetic algorithm which only reserves the best algorithm is an adaptive searching technique based on a selection and reproduction mechanism found in the natural evolution process, and it was pioneered by Holland in the has bee very famous with its global searching, parallel puting, better robustness, and not needing differential information during , it also has some demerits, such as poor local searching, premature converging, as well as slow convergence recent years, these problems have been this paper, an improved genetic algorithm with variant chromosome length and variant probability is with some critical functions shows that it can improve the convergence speed significantly, and its prehensive performance is better than that of the genetic algorithm which only reserves the best section 1, our new approach is optimization examples, in section 2, the efficiency of our algorithm is pared with the genetic algorithm which only reserves the best section 3 gives out the , some proofs of relative theorems are collected and presented in of the algorithm Some theorems Before proposing our approach, we give out some general theorems(seeappendix)as follows: Let us assume there is just one variable(multivariable can be divided into many sections, one section for one variable)x ∈ [ a, b ] , x ∈ R, and chromosome length with binary encoding is 1Minimal resolution of chromosome is s = ba 2l1Theorem 2Weight value of the ith bit of chromosome iswi = bai1(i = 1,2,…l)2l1Theorem 3Mathematical expectation Ec(x)of chromosome searching step with onepoint crossover is Ec(x)= baPc 2lwhere Pc is the probability of 4Mathematical expectation Em(x)of chromosome searching step with bit mutation is Em(x)=(ba)Pm Mechanism of algorithmDuring evolutionary process, we presume that value domains of variable are fixed, and the probability of crossover is a constant, so from Theorem 1 and 3, we know that the longer chromosome length is, the smaller searching step of chromosome, and the higher resolution。(ba)11ba1Pc where l is large, l2l21Ec(x)=229。近些年，這個問題被廣泛地進行了研究。同時，交叉概率與搜索步驟成正比。Gt=1其中G是當前進化的一代，favg是個體的平均適應度。進化的開始階段，較短染色體（可以是過短，否則它不利于種群多樣性）和較高的交叉和變異概率會增加搜索步驟，這樣可進行更大的域名搜索，避免陷入局部最優(yōu)。一些關鍵功能的測試表明，我們的解決方案可以顯著提高遺傳算法的收斂速度，其綜合性能優(yōu)于只保留最佳個體的遺傳算法。Pm mli2121一種新的改進遺傳算法及其性能分析摘要：雖然遺傳算法以其全局搜索、并行計算、更好的健壯性以及在進化過程中不需要求導而著稱，但是它仍然有一定的缺陷，比如收斂速度慢。Pm, where Pm is the probability of Mutation probability of genes on each locus of chromosome is equal, say Pm, therefore, mathematical expectation of mutation searching step is Em(x)=229。2j1=ft=1avg(t)where G is the current evolutionary generation, is individual average When the cumulative average fitness increases to k times(k 1, k ∈ R)of initial individual average fitness, we change chromosome length to m times(m is a positive integer)of itself , and reduce probability of crossover and mutation, which can improve individual resolution and reduce searching step, and speed up algorithm procedure is as follows:Step 1 Initialize population, and calculate individual average fitness and set change parameter equal to , Step 2 Based on reserving the best individual of current generation, carry out selection, regeneration, crossover and mutation, and calculate cumulative average of individual average fitness up to current generationfavg。本文提出了一種算法簡單、易于實現(xiàn)、理論意義明確的步進電機變速控制策略:定時器常量修改變速控制方案?？刂撇糠质钦麄€物料抓取機械手系統(tǒng)設計關鍵和核心，它在結構和功能上的劃分和實現(xiàn)直接關系到機器人系統(tǒng)的可靠性、實用性，也影響和制約機械手系統(tǒng)的研制成本和開發(fā)周期。本文結合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現(xiàn)的問題，綜述近幾年機器人技術研究和發(fā)展的狀況，在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎上，對物料抓取機械手整體機械結構、傳動系統(tǒng)、驅動裝置和控制系統(tǒng)進行了分析和設計，提出了一套經濟型設計方案。第三篇：智能機器人外文翻譯Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, microelectronics and puter, automation control and drive, sensor and message dispose and artificial intelligence and so the development of economic and the demand for 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