关键词：光机电；机器人；条款罗盘；航位推算；定位系统

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For the problems that the dexterity of movement was not enough,the grinding path was uncontinuous as well as the accuracy and efficiency were influenced while the gripper needed replacing,when complex curved workpiece was under grinding by six freedom degrees grinding robot,a new type redundant grinding robot,PPPRRRR,was proposed.A new type robot system coordinate and kinematics model of robot space were founded by the homogeneous transformation.Robot kinematics equations were derived.By ADAMS,the work space of robot was obtained.The relative position of the grinding contact wheel and robot was optimized by orthogonal test method.It lay the foundation for in-depth study of this type of grinding robot.

关键词：光机电；机器人；冗余；运动学

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Aims to address the restrictions imposed by tranditional robot Control system development approach such as close structure,function immobility,lack of reconfiguration at run time,hard to guarantee.a lightweight service-oriented architectures(LSOA) for robot control system is proposed.The main features of this architecture include central control mode,message-based interaction and configuration system based on embedded database.This architecture provides good supports for runtime reconfiguration,and allows integrating different components with the aid of a configuration system.The experiment indicates that the LSOA approach can improve the flexibility,reconfiguration and agility of the system.

关键词：光机电；机器人；控制系统；SOAP；消息传递

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This chapter discusses how real-life interfacing of external peripherals with a ready-made mobile robot can be successfully achieved. Such a system is hoped to be useful for those research scenarios where, many-a-time, because of the fund constraints, a complete robot system cannot be procured with all its accessories and sensor systems. This chapter discusses how such interfacing can be achieved for the KOALA robot using serial communication in interrupt driven mode.

关键词：光机电；机器人；移动；外围

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One of the most common problems of autonomous mobile robots is object avoidance in a dynamically changing environment. The effectiveness of algorithms responsible for trajectory planing is largely dependent on the correct sensory input. It is necessary to equip a mobile robot with the proper sensors to allow a correct functioning in unknown terrain. With the high degree of complexity standard point distance sensors are insufficient for high speed movement. The recent development of compact laser range finders allowed the minimization of robot dimensions. Hokuyo UTM-30LX is an example of such a sensor. For a precise understanding of the measurements, a characterization of a sensor is needed. This paper is summarizes the parameters of Hokuyo UTM-30LX laser range finder, in particular: drift effect, influence of target distance, surface brightness, color and material, and the sensor orientation. The parameters measured prove that the Hokuyo UTM-30LX can be used in a mobile robot system for complex object detection and avoidance.

关键词：光机电；机器人；自在移动；激光测距

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This paper describes the application of the optimization algorithm based on particle swarms known by its acronym as PSO, used to adjust the parameters of membership functions of a fuzzy logic controller (FLC) to find the optimal intelligent control for a wheeled autonomous mobile robot. Results of several simulations show that the PSO is able to optimize the type-1 and type 2 FLCs for this specific application.

关键词：光机电；机器人；自主移动；模糊控制器

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This paper proposes the control interface of a robotic wheelchair for sufferers from rheumatism. The proposed interface adopts electromyogram(EMG)signals as input signals for command generation based on functionally different effective muscle(FEM)theory. Sufferers from rheumatism can move not his joints but muscles. Therefore, EMG signals have a potential to become the helpful tool. In addition, FEM theory represents the relation between the direction of the output force at the end effector such as a wrist(or an ankle)and muscles of limbs. Thus, the proposed interface can realize the intuitive operation. Experimental results evaluate the utility of the proposed control interface.

关键词：光机电；机器人；运动控制；肌电图信号；有限元理论

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This paper describes the optimization of an Integrator control block within the proposed navigation control system for a mobile robot. The control blocks that the integrator will combine are two Fuzzy Inference Systems (FIS) in charge of tracking and reaction respectively. The integrator block is call Weighted Fussy Inference System (WFIS), and assigns weights to the responses on each behavior block, to combine them into a single response.

关键词：光机电；机器人；移动导航；模糊集成

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An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

关键词：光机电；机器人；博弈框架；任务规划

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This chapter presents a detailed, step-by-step demonstration of how vision-based navigation modules can be actually implemented in real life, under 32-bit Windows environment. These lessons start with a simple development of capturing image frames from a running video and then gradually proceeds to more complex tasks of incorporating image processing capabilities e.g. filtering techniques, contrast enhancement, adaptive thresholding etc. Then the lessons demonstrate how to extract path for the robot from such images and how a rule-based approach can be utilized to determine left and right wheel speed settings of a differential drive system.

关键词：光机电；机器人；视觉移动；算法实现

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