【正文】 ver 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。Pm mli2121一種新的改進(jìn)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(jì)算、更好的健壯性以及在進(jìn)化過(guò)程中不需要求導(dǎo)而著稱(chēng)，但是它仍然有一定的缺陷，比如收斂速度慢。進(jìn)化的開(kāi)始階段，較短染色體（可以是過(guò)短，否則它不利于種群多樣性）和較高的交叉和變異概率會(huì)增加搜索步驟，這樣可進(jìn)行更大的域名搜索，避免陷入局部最優(yōu)。同時(shí)，交叉概率與搜索步驟成正比。(ba)11ba1and 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。運(yùn)動(dòng)學(xué)分析是路徑規(guī)劃和軌跡控制的基礎(chǔ)，對(duì)操作臂進(jìn)行了運(yùn)動(dòng)學(xué)正、逆問(wèn)題的分析可以完成操作空間位置和速度向驅(qū)動(dòng)空間的映射，采用齊次坐標(biāo)變換法得到了操作臂末端位置和姿態(tài)隨關(guān)節(jié)夾角之間的變換關(guān)系，采用幾何法分析了操作臂的逆向運(yùn)動(dòng)學(xué)方程求解問(wèn)題，對(duì)控制系統(tǒng)設(shè)計(jì)提供了理論依據(jù)。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。另外，只需要輸入很小的扭矩就能產(chǎn)生滿足極其惡劣的工作條件所需的控制力，這對(duì)于因操作空間限制而需要小方向盤(pán)的場(chǎng)合很重要，這也是減輕司機(jī)疲勞度所必須的。油液貯存和調(diào)節(jié)裝置：用來(lái)確保提供足夠質(zhì)量和數(shù)量并冷卻的液體。給予微處理器的系統(tǒng)運(yùn)行時(shí)要與固態(tài)的存儲(chǔ)裝置相連，這些存儲(chǔ)裝置可以是磁泡，隨機(jī)存儲(chǔ)器、軟盤(pán)、磁帶等。機(jī)器人控制器是工作單元的核心。這些連在機(jī)器人手臂末端的附件可使機(jī)器人抬起工件、點(diǎn)焊、刷漆、電弧焊、鉆孔、打毛刺以及根據(jù)機(jī)器人的要求去做各種各樣的工作。第二篇：機(jī)器人外文翻譯沈陽(yáng)航空工業(yè)學(xué)院學(xué)士學(xué)位論文機(jī) 器 人工業(yè)機(jī)器人是在生產(chǎn)環(huán)境中以提高生產(chǎn)效率的工具，它能做常規(guī)乏味的裝配線工作，或能做那些對(duì)于工人來(lái)說(shuō)是危險(xiǎn)的工作，例如，第一代工業(yè)機(jī)器人是用來(lái)在 核電站中更換核燃料棒，如果人去做這項(xiàng)工作，將會(huì)遭受有害的放射線的輻射。布羅德本特獲得了BE（榮譽(yù)）電機(jī)及電子工程坎特伯雷，基督城大學(xué)，新西蘭，她的碩士和博士學(xué)位健康心理學(xué)來(lái)自新西蘭奧克蘭大學(xué)。Psychosom醫(yī)學(xué)68:910913 13，布羅德E，皮特里KJ，埃利斯CJ，英?，寶潔G（2004）圖片健康心肌梗塞患者的圖紙他們心和隨后的殘疾：一個(gè)縱向研究。報(bào)告號(hào)碼：TRITANAP9821，IPLab154。為人是一個(gè)重要的變量來(lái)考慮，但同樣值得注意的是，有沒(méi)有圖紙的動(dòng)物般的醫(yī)療機(jī)器人。更大的圖紙是在與更高的自我報(bào)告的負(fù)面情緒相關(guān)用機(jī)器人，具有更大的趨勢(shì)的相互作用增加收縮壓。這些結(jié)果表明，人誰(shuí)了精神機(jī)器人的架構(gòu)作為人類(lèi)類(lèi)似的經(jīng)歷更大響應(yīng)于激活自主神經(jīng)系統(tǒng)的機(jī)器人。郵政邀請(qǐng)人發(fā)送給400名患者在當(dāng)?shù)厝漆t(yī)生的奧克蘭，玉城校區(qū)的大學(xué)。這項(xiàng)工作的一個(gè)需要注意的是它有已執(zhí)行與西方人群，并初步研究表明，類(lèi)人機(jī)器人可能會(huì)少鐓人在日本比西方人[9]。標(biāo)準(zhǔn)化的繪圖指令和打分都評(píng)估認(rèn)知和情感走向一個(gè)有用的方法機(jī)器人。布羅德本特?永在李?麗貝卡問(wèn)：斯塔福德?一韓擴(kuò)?接受日期：2011年3月29日在線/發(fā)布時(shí)間：2011年4月14日169。電影如星球大戰(zhàn)（1977）或機(jī)械戰(zhàn)警（1987）通常描繪機(jī)器人栩栩如生的機(jī)器，有一個(gè)人形和人類(lèi)類(lèi)似的特質(zhì)。這可能是誰(shuí)的人有先入為主機(jī)器人作為思想更類(lèi)似人類(lèi)會(huì)覺(jué)得更焦慮與機(jī)器人互動(dòng)，這可能是顯而易見(jiàn)的在他們的生理反應(yīng)。希望參加退回一份同意書(shū)，并隨后打電話，并給予了預(yù)約在大學(xué)參與了這項(xiàng)研究。這是值得我們思考的可能原因的人誰(shuí)畫(huà)了一個(gè)類(lèi)似人類(lèi)的機(jī)器人有更大的增加血壓和消極情緒比人誰(shuí)畫(huà)一個(gè)盒狀的機(jī)器人。與問(wèn)卷，重要的是標(biāo)準(zhǔn)化的指示并要求人們?cè)谥贫ㄔu(píng)分方法均采用機(jī)器人，這樣的評(píng)估方法是有效的和可靠的。這項(xiàng)工作引入了一個(gè)機(jī)器人采取的范式參與者的血壓本身作為一個(gè)直接的方式來(lái)評(píng)估生理反應(yīng)的機(jī)器人相比，人類(lèi)的測(cè)量。99，美國(guó)3，阿拉斯KO，Cerqui D（2005）我們希望分享我們的生活，與機(jī)器人的身體？一個(gè)2000人的調(diào)查。?人最少最多志心理學(xué)54:10631070 16在認(rèn)知和臨床科學(xué)斯坦的DJ（1992）架構(gòu)。永在李攻讀醫(yī)學(xué)和學(xué)士學(xué)士手術(shù)在新西蘭奧克蘭大學(xué)目前，他是一個(gè)實(shí)習(xí)生實(shí)習(xí)生在奧克蘭市醫(yī)院。機(jī)器人可以認(rèn)為是將手臂末端的工具、傳感器和（或）手爪移到程序指定位置的一種機(jī)器。另外，來(lái)自外設(shè)的信號(hào)與機(jī)器人通訊，通知機(jī)器人何時(shí)裝配工件、取工件或放工件到傳輸裝置上。用戶可通過(guò)手持的示教盒將機(jī)械手運(yùn)動(dòng)的程序編入控制器。傳給機(jī)器人系統(tǒng)的動(dòng)力源有兩種，一種是用于控制器的交流電，另一種是用于驅(qū)動(dòng)機(jī)械手各軸的動(dòng)力源，例如，如果機(jī)器人的機(jī)械手是有液壓和氣壓驅(qū)動(dòng)的，控制信號(hào)便傳送到這些裝置中，驅(qū)動(dòng)機(jī)器人運(yùn)動(dòng)。液壓系統(tǒng)成功而又廣泛使用的秘密在于它的通用性和易操作性。液壓系統(tǒng)也有缺點(diǎn)，液壓油有污染，并且泄露不可能完全避免，另外如果油液滲漏發(fā)生在灼熱設(shè)備附近，大多數(shù)液壓油能引起火災(zāi)。The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving this driving system, openloop control system is posed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and this basis, the analysis of stepping motor in power calculating and style selecting is also analysis of kinematics and dynamics for object holding manipulator is given in pleting the design of mechanical structure and drive analysis is the basis of path programming and track positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand of real time this chamfer, NewtonEuripides method is used in analysis dynamic problem of the cleaning ro