共查询到19条相似文献，搜索用时 187 毫秒
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《实验室研究与探索》2016,(12):156-159
通过引入NAO机器人教学平台,设计一个让NAO完成拾取物品并丢弃至垃圾桶的任务,可以让学生循序渐进的掌握相关技术。该平台根据机器人运动学理论实现了对NAO机器人手臂的精确控制,再基于Open CV视觉库完成了对色标柱的识别与定位,实现了NAO机器人手臂完整的抓取和丢弃动作。经过实践发现,这种教学模式能够激发学生学习机器人运动学、图像处理、自动控制等专业知识的兴趣,教学实验案例有助于培养学生的创新意识,并让学生用编程解决问题的能力获得全面提高。 相似文献
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讨论了一种四自由度机器人运动学模型的建立问题,在此基础上给出了该机器人运动学正解和运动学逆解的简化求解方法,简化了求解过程,大大减少了计算量。实验表明:这种简化求解方法是可行的并且是有效的。 相似文献
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一种四自由度机器人的运动学建模 总被引：1，自引：0，他引：1
讨论了一种四自由度机器人运动学模型的建立问题，在此基础上给出了该机器人运动学正解和运动学逆解的简化求解方法，简化了求解过程，大大减少了计算量。实验表明：这种简化求解方法是可行的并且是有效的。 相似文献
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基于机构学理论,建立了3-RRR并联机器人逆运动学模型.在MATLAB软件中,编程求解该运动学模型,讨论了该并联机器人逆解与装配模式之间的关系;通过MATLAB软件仿真,得到不同装配模式下,主动杆角位移、角速度和角加速度的变化规律.为该机构的动力学分析和工程应用提供了技术基础. 相似文献
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探讨采用多线程软件编程技术实现多个NAO机器人的同步启动。首先,以 NAO 机器人为基础,将多线程同步技术应用到多台 NAO机器人的协调控制中,使多台机器人在同一时刻同时启动。其次,通过多线程方法执行并行任务,使多机器人在同一个系统中同时执行各自的任务,具有较稳定的同步性。最后,通过实验验证了该方法的有效性和可靠性。 相似文献
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强化人体生物力学性能分析能力有助于提高学生处理外骨骼机器人研究过程中解决人机共融技术问题的技术手段。该文以助力型外骨骼机器人为研究背景,基于OpenSim仿真平台提出了一个人体下肢生物力学性能分析实验教学方案,以技术层、输入层、模型层和输出层体系结构为视角,梳理出由人体下肢运动信息采集到生物力学性能分析的实验仿真流程。使用OpenSim软件建立人体下肢参数化肌骨模型,经由逆运动学和逆动力学求解器获取下肢运动过程中的关节角与关节力矩,为助力型外骨骼的助力机制研究提供数据支撑。 相似文献
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基于虚拟现实技术开发软件对反恐排爆机器人虚拟实验系统进行功能开发,该系统应用于反恐排爆机器人教学,建立D-H机械臂坐标系,实现反恐排爆机器人结构认知、装配操作、工作空间、关节运动控制,实现人机交互,利用D-H参数法建立反恐排爆机器人运动学模型,进行了正、逆运动学求解及轨迹规划。系统有着较好的沉浸性与交互性,能够完成反恐排爆机器人的虚拟实践教学。 相似文献
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《赤峰学院学报(自然科学版)》2016,(14)
为了使工业机器人的位姿改变更加快速、灵活、工作空间更大,对一种六自由度混联机器人进行了三维建模,并根据右手法则建立了机器人各个关节的坐标系,提出了一种几何和反变换相结合的运动学求解方法,对机器人进行正运动学分析和逆运动学分析,在多解选择时,采用就近原则和逐级剔除的方法.这种结构既有旋转关节机器人的灵活性,也有了直线关节机器人的工作空间.最后用Matlab进行数据仿真,机器人在笛卡尔空间运动轨迹平滑稳定,结果证明了方法的可行性. 相似文献
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在建立新型四自由度机构2RRS-2RUS逆运动学模型的基础上,运用单开链法和支链子空间形成的包络面法求解确立该机构的可达位置工作空间和姿态工作空间,并利用雅克比矩阵的代数特征定义约束条件,导出机构奇异位形曲面的方程,据此求解出特定参数下该机构的奇异位形的边界曲线,确定系统在特定参数下出现奇异位形的可能性. 相似文献
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A novel approach to realistic collision-free animation of the upper limb was proposed.According to the obstacle-avoidance strategy of human hand,the movement trajectory was computed by manipulability model and minimum-jerk based interpolation.In each key frame,an improved in～verse kinematics method was adopted to obtain a believable posture of the upper limb.By comparing with the real movement data obtained from the motion capture device,the resultant animation was testified to be natural.This method can be performed in interactive time,and therefore is applicable in animation edit and control of virtual humans. 相似文献
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对机器人柔性变形误差模型的建模进行了研究,分别建立了机器人运动学参数辨识模型、关节柔性参数辨识模型以及连杆柔性参数辨识模型,并在此基础上推导出运动学参数与柔性参数的耦合误差模型。结果显示,对于在进行运动学参数辨识时有必要考虑机器人柔性变形的影响,本研究可为进行柔性参数的辨识以及运动学参数的辨识提供参考。 相似文献
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为使人体下肢假肢尽可能接近正常人的步态行走模式,设计了以数字信号处理器（DSP）为控制核心的下肢假肢膝-踝关节柔性仿生控制装置,以便改善下肢假肢的功能性、灵活性与可用性;设计采用生物电传感器采集患者下肢残段的生物电信号,同时检测速度及加速度传感器的信息,经多通道信号运算放大滤波后,进行模数转换,将数字信息输入DSP微处理器进行步态分析与决策,DSP输出的PWM信号对电机进行控制,进而控制假肢的膝-踝关节的全时相角度、力学及运动学参数。 相似文献
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Philippe Garnier Karine Martel Julie Dachez Pauline Audry Pascal Bourgoin Fleur Stawinski 《Journal of Research in Special Educational Needs》2023,23(3):163-174
Humanoid robots have shown to provide interesting perspectives for autistic children. Yet, few studies have looked at educators' point of view on the use of such robots in educational settings. This paper presents a case study of the use of a humanoid robot, NAO, in a French preschool class dedicated to autistic children. Our work focuses on the perspectives of the adults working with these children. We interviewed the professional staff about changes in their teaching due to the presence of the robot, about the effects on the pupils' behaviour, and about the collaboration between the special needs teacher, the special needs support worker and the operational specialist from the digital education department of the district academic head office. Four themes were identified: joint reflection and collaboration when working with NAO, working with NAO, impact of NAO on pupils, impact of NAO on adults. The professionals underscored the necessity of adopting certain attitudes, in particular, the most neutral facial expression possible, so as not to disturb the children's learning process. They were under the impression that the robot had a beneficial effect on the pupils in terms of learning and social skills, and that it facilitated collaboration among them. 相似文献
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在已建立的非SLIP仿袋鼠单足跳跃机器人系统机构模型的基础上,对其进行运动学、动力学分析,用MATLAB软件进行了优化设计建模及解算,得出了最优解,并确定了各部分结构的质量和长度参数,为机器人的机械结构设计提供了重要依据。 相似文献
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借助ADAMS/CAR,对某FSAE赛车双横臂独立前悬架和转向系统建立多体动力学模型,并对其进行前轮同向跳动仿真,对下控制臂球头铰上移和下移后再次仿真.仿真结果表明,下控制臂球头铰位置的变化对前轮定位参数影响显著. 相似文献
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Hai Zhou Dong-mei Wang Tao-ran Liu Xiang-sen Zeng Cheng-tao Wang 《Journal of Zhejiang University. Science. B》2012,13(10):831-838
Objective: The purpose of this study was to measure the kinematics of the lower limbs of Chinese people during normal kneeling activity, as such data could be valuable in designing joint prosthesis and arthroplasty that meet the needs of Chinese citizens’ daily activities. Methods: Thirty young and twenty elderly Chinese participants with no personal history of joint diseases were recruited, and matched by age (average age: 23.8 years for the young group, 60.8 years for the elderly group). Each participant performed six trials during which three-dimensional (3D) kinematics data were collected and the means of the 3D angles of the ankle, knee, and hip joints of two groups were calculated. Results: There were no obvious differences between the two groups in the knee and ankle joints. The mean range of knee flexion was 139.6° for the young group and 140.9° for the elderly group. The mean range of ankle flexion was 35.7° for the young group and 37.6° for the elderly group. The maximal eccentric flexion at the hip joint was 67.5° for the young group compared to 100.5° for the elderly group. Conclusions: The elderly uses more hip flexion angles than the young when assuming the kneeling posture. The ranges of motion obtained during kneeling activity are greater than the reported mean ranges of motion achieved following joint arthroplasty. The data could be valuable in establishing criteria for lower limb prosthetics and rehabilitation protocol for the Chinese population. 相似文献