先進(jìn)的機(jī)器人系統(tǒng)在當(dāng)今現(xiàn)代工業(yè)中具有重要意義,相比于人工操作,它們具有持久性和可靠性。自動(dòng)化制造是工業(yè)當(dāng)今的主題,因此也是工業(yè)實(shí)驗(yàn)和學(xué)術(shù)界的研發(fā)調(diào)查的重點(diǎn)(JM Skowronski（USC,1989）。該系統(tǒng)的主要部分在于機(jī)器人控制和控制系統(tǒng)的穩(wěn)定性,協(xié)調(diào)部件使得更有效的目標(biāo)達(dá)成（最優(yōu)時(shí)間規(guī)劃,避免碰撞）是其中不可或缺的一部分。機(jī)器人在高速工作下需要有非常有效的負(fù)載才能進(jìn)行非線性建模。他們的工作在保證精度的情況下受到許多參數(shù)的限制(JMSkowronski（USC,1989）。在傳統(tǒng)行業(yè)中,機(jī)器人基本上是手動(dòng)或部分自動(dòng)的,并且在開(kāi)環(huán)環(huán)境中工作,這種機(jī)器人由于無(wú)法自主的思考和工作而無(wú)法提供持久性的幫助。但是現(xiàn)代工業(yè)和機(jī)器人都是以自主的方式工作,依賴性低。為此更好的達(dá)到依賴性低的目的,已經(jīng)構(gòu)建了高速控制器來(lái)控制它們,開(kāi)發(fā)人員的任務(wù)是利用不同的控制算法將人工智能,機(jī)器學(xué)習(xí)和控制技術(shù)等相關(guān)技術(shù)編程到該系統(tǒng)。使得這些先進(jìn)的機(jī)器人可以更加獨(dú)立和自主地工作。通過(guò)這種方式,機(jī)器人可以非�？焖俚毓ぷ鬟M(jìn)而優(yōu)化相關(guān)行業(yè)。這項(xiàng)任務(wù)不止是讓它們變得快速,而是讓它們持久可靠,以完成我們期望的任務(wù)。本研究為高級(jí)機(jī)... 

【文章頁(yè)數(shù)】：102 頁(yè)

【學(xué)位級(jí)別】：碩士

【文章目錄】：
摘要
Abstract
CHAPTER 1 Introduction
    1.1 Background
    1.2 Motivation and Purposes
    1.3 Problem Areas
    1.4 Delimitations
    1.5 Methods to Research the Problem
CHAPTER 2 Literature Review
    2.1 Control of Manipulators
    2.2 Mobile Robots
    2.3 Control Theories and Algorithms
        2.3.1 Fuzzy logic and it's Variant Systems
        2.3.2 Network Control Theory
        2.3.3 Predictive Control Algorithm
        2.3.4 Control Algorithms Helping in Bio-Medical fields
    2.4 Research Idea
CHAPTER 3 Robotics and its Advancements
    3.1 Background and Research Advancements
        3.1.1 Background of Robotics
        3.1.2 Research Advancements in Robotics
    3.2 Industrial Revolution and Robotics
    3.3 Types of Robots
        3.3.1 Cartesian Robots
        3.3.2 Cylindrical Robot
        3.3.3 Articulated Robot
        3.3.4 Delta Robots/Parallel Robot
        3.3.5 SCARA Robot(Selective Compliance Articulated Robot Arm)
        3.3.6 Mobile Robots
    3.4 Mathematical and dimensional modeling of Robots
        3.4.1 Kinematics
        3.4.2 Basic Joints
        3.4.3 Forward Kinematics
        3.4.4 Inverse Kinematics
    3.5 Manipulator
        3.5.1 Articulated Manipulator
        3.5.2 The Cartesian Manipulator
        3.5.3 The SCARA Manipulator
        3.5.4 The Spherical Manipulator
        3.5.5 The Cylindrical Manipulator
CHAPTER 4 Explorative Case studies
    4.1 Quadruped Robot
        4.1.1 Stability
        4.1.2 Gait
        4.1.3 Kinematics Analysis
        4.1.4 Dynamic Analysis
    4.2 Six-axis Robotic Arm
        4.2.1 Kinematic Analysis of 6-axis Robotics Arm
        4.2.2 Dynamic Analysis of 6-axis Robotics Arm
    4.3 Humanoid Robot
        4.3.1 Bipedal Robot
        4.3.2 Exosuits
        4.3.3 Actuator Selection Criteria
        4.3.4 System control processor type selection, and programming
        4.3.5 Sensor signal acquisition and signal processing
CHAPTER 5 Simulation and Results with respect to Explorative Case Studies
    5.1 Dynamic Simulation & Results of Quadruped Robot
    5.2 Implementation of Recursive Neural Network for Optimization in Robots
    5.3 Kalman Filter
CHAPTER 6 Discussion of Findings. Conclusion and Future Recommendation
    6.1 Discussion of Findings
    6.2 Conclusion
    6.3 Future recommendations
References
Acknowledgements



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