机器人双手臂协调姿态研究——手指运动姿态控制.doc

机器人双手臂协调姿态研究——手指运动姿态控制 摘要 随着科技的进步，机器人技术飞速发展，机器人所涵盖的内容越来越丰富，新功能的智能机器人不断涌现。其实机器人就是一种自动化机器，所不同的是这种机器人具备一些与人或生物相似的智能能力，是一种具有高度灵活性的自动机器。机器人技术的本质是：感知，决策，行动与交互技术的结合，随着人们对机器人技术智能化本质的认识，机器人技术不断向人类活动的各个领域渗透，人们发展了各种具有感知，决策，行动交互能力的智能机器人，去执行各种特殊的任务。为了检测作业对象及环境或机器人与它们的关系，在机器人上安装了触觉传感器、视觉传感器、力觉传感器、接近觉传感器、超声波传感器和听觉传感器，大大改善了机器人工作状况，使其能够更充分地完成复杂的工作。由于外部传感器为集多种学科于一身的产品，有些方面还在探索之中，随着外部传感器的进一步完善，机器人的功能越来越强大，将在许多领域为人类做出更大贡献。Along with the technical progress, the robot technology rapid development, the content which the robot covers is more and more rich, the new function intelligent robot emerges unceasingly.Actually the robot is one kind of automated machine, different is this kind of robot has some with the human or biological similar intelligence ability, is one kind has the highly flexible automated machine. The robot technology essence is: The sensation, the decision-making, the motion and the interactive technical union, along with the people to the robot technology intellectualization essence understanding, the robot technology unceasingly each domain seepage which moves to the humanity, the people developed each kind to have the sensation, the decision-making, the motion interactive ability intelligent robot, carried out each kind of special task. In order to examine the work object and the environment or the robot with theirs relations, has installed the sense of touch sensor, the visual sensor, the strength sense sensor, the close sense sensor, the ultrasonic sensor and the sense of hearing sensor on the robot, improved the robot working condition greatly, enables its to complete the complex work fully. Because exterior sensor for collection many kinds of disciplines in a body product, some aspects during the exploration, along with exterior sensor further consummation, the robot function more and more is also formidable, will make a bigger contribution in many domains for the humanity. Sensor in intelligent robot indispensable, more and more is also widespread in the robot ap