The four-wheel differential omni-directional mobile robot has shown a strong research value and application prospect.This paper explored the kinematics and dynamics model of the omni-directional mobile robot by former differential and rear differential features,with a particular focus on its path planning strategy.The design includes path planning reference point,whilst analysis was made on the temporary path design strategy for linear and circular two features,with the resulting temporary path being optimal and most valid.This paper concludes with the research results that are available for providing the necessary preliminary studies and theoretical basis for the control of the mobile robot of this type.

关键词：光机电；机器人；运动学；动力学；临时道路

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Raspberry Pi is a credit card sized Linux computer based on ARM11 architecture.Because of its small size,low power consumption and powerful performance,a robot controller is a suitable role for it to play.As a robot with artificial intelligence,speech recognition for controlling the robot and voice feedback to users is key parts of the entire system.In this essay,a robot called Lisa is assembled,and a speech control and interactive system is implemented based on Google voice API which is a voice recognition engine provided as a cloud service.In order to analysis complex voice commands,a semantic method is developed to catch key words from command sentences.Then try to make a pattern match between key words and instruction set build-in the robot control system.The speech recognition control and interactive system is effective and well behaved after experimental verification.

关键词：光机电；机器人；ASR；TTS；Raspberry Pi

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6-DOF parallel robot forward kinematics can be achieved by Newton-Raphson method with more accurancy,but the result depends on the offer of initial value.It can definitely calculate the result by genetic algorithm,however,more evolved algebra is needed to make it more accurate,and sometimes it hardly meets the requirement by concurrent control.This article points to use the result of genetic as the initial value of algorithm,and ultimately make use of iteration to complete the forward kinematics.High accuracy and speed are the main features of this calculation,and another one is interpreting from the implementation point of view,which is very practical and meet the concurrent control through experiment.

关键词：光机电；机器人；正向运动学；牛顿迭代法；遗传算法

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Museum commentary robots usually have many functions,such as man-machine interaction,open language mode,actions show,and so on.The robot introduced in this paper uses cameras,infrared sensors and MP3 module to realize interpreting function and motion in accordance with the desired trajectory in the museum.This work makes up the blank space our school museum commentary robot and is benefit to promote student's positivity for museum knowledge.At the same time,this work will lay the foundation of next step commentary robot with open language mode and facial expression.

关键词：光机电；机器人；摄像机标定；路径规划；可视化控制

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With a growing popularity of web applications,new technology can be adopted to create a 3D application for robotics simulation without plug-ins or third party components based on HTML5 and WebGL.By the use of 3D modeling software Remo3D,the three-dimensionally geometric model of robots links is built up.The standard COLLADA is used as a file format for storing the scene graph structure of robot model.The application uses open standards and can be run in any modem browser on PC or any smart device without installation.

关键词：光机电；机器人；WebGL；HTML5；机器人仿真

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In order to improve the sense of cooperation of robotic fishes between each other to complete the task with high efficiency,this paper presents a path planning method for multi-robot fish based on the cooperative game model.With a mathematical model established on the cooperative game which is based on the game theory,the robotic fish in this system corresponds to the other participants in the game,benefit function of the game player on the cooperation model of multi-robot fish path construction is studied in this paper,which gets system Pareto optimal solution,then getting the optimal path of the entire system.Using the above method,the authors simulate and analyze on the robotic fish in water 2D simulation platform,and to use Matlab to simulate robot fish's track.The results of analysis indicate:Applying the path planning theory in the multi-robot fish movement system is effective and feasible,and that avoids planning only a single robotic fish's optimal path in the system,while leaving the movement of system in the beneath coordination.

关键词：光机电；机器人；合作博弈；效益函数；路径规划

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Aiming at the problems of the anterior cruciate ligament (ACL) reconstruction in knee joint,such as deficiency in effective effect evaluation and insufficiency in operation safety,a zero gravity based force-measuring robot is developed to measure the pre-and post-operative tension of the knee joint ACL.The requirements for the robot's configuration and control are analyzed with regard to the ACL operation environment.Then the mathematical model of the ACL lateral force is deduced.The mechanical configuration and the control system design of the force-measuring robot for knee joint ACL are presented in detail.Lastly,experiments on measuring precision of the displacement and force of the mandrel,and the post-operation evaluation on the ovine bone,are implemented.The results show that the robot is effective for ACL reconstruction evaluation and the mathematics model of ACL forced in lateral direction is valid.

关键词：光机电；机器人；零重力；前交叉韧带；测力

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The purpose of this study is to design a flamethrower robot that works on power transmission lines.Composed of wheels and arms,the robot is able to move on the power transmission lines and also can get rid of the foreign matter like kites hanging on the line.Geometric design of the mechanism is discussed in detail and the critical problem of slide occurred between the line and the wheel is solved in this study.Also,the kinematics and the work space of the arm fixed on the robot are researched to ensure that the foreign matter hanging on the line can be cleared wherever it is.The effectiveness of the proposed concept is proved by experiments performed in a simulated line environment.

关键词：光机电；机器人；火焰喷射器；运动学；电源线

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The cerebellum has long been thought to play a crucial role in the forming of graceful movements,and it is viewed as a set of modules,each of which can be added to a control system to improve smooth coordinated movement,with improvements continuing and improving over time.The present paper proposes a new feedback error learning scheme for tracing in motor control system.In the scheme,the model of cerebellar cortex is regarded as the feedforward controller.Specifically,a neural network and an estimator are adopted in the cerebellar cortex model which can predict the future state and eliminate faults caused by time delay.The limits of achievable temporal accuracy in feedback-error learning are investigated experimentally and it is shown that motor output can have better temporal resolution than the error signal which is used for adapting the predictive controller.Finally,the algorithm is demonstrated in a simple but demanding simulated robot-control task.

关键词：光机电；机器人；小脑；电机控制；仿真

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According to the requirement of operational stability and reliability of welding robot,the direct and inverse kinematics models of three-axis linkage welding robot were analyzed.Based on the analysis result,variable gain PID control scheme was designed,and the control system model was built.The control scheme was checked and assessed using MATLAB analysis box.Analysis results show that control system satisfies the demands of welding robot running stability and reliability in ideal status,and the research has laid foundation for the further research.

关键词：光机电；机器人；可变增益PID；控制系统

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