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On the basis of the establishment of a set of comprehensive method for automatically generating constraint equations,and algorithms for solving large scale linear and nonlinear programming models of farm machinery operation system,a special attention is given to the development of the systematic saftware FMS,which is not only very applicable,but also makes various complicated simulations possible.

本文通过对农业机器作业系统优化软件研制和推广的必要性及可行性分析,建立了计算机自动生成约束方程的理论基础,并发展了用微机有效求解大规模线性和非线性规划优化模型的求解方法。在解决上述技术关键的基础上,利用先进的微机软件设计思想,研制了一套高度自动化、具有线性和非线性功能的机器作业系统优化大型软件系统FMS,并用数值实例反映了系统对有关参数的响应。

The robotic workstation layout is the main part of the design for a flexible robotic assembly sys-tem.In this paper,by using of the Monte Carlo theory,the influences of all kinds of errors,robot pose er-rors compensation and robot compliance upon the robotic assembly process is studied.A discrirninant of pro-cess success of assembly is introduced and verified by experiment.Then the Monte Carlo optimization is usedto determine the location of feeders and assembly point which is of highest success rate of assernbly...

The robotic workstation layout is the main part of the design for a flexible robotic assembly sys-tem.In this paper,by using of the Monte Carlo theory,the influences of all kinds of errors,robot pose er-rors compensation and robot compliance upon the robotic assembly process is studied.A discrirninant of pro-cess success of assembly is introduced and verified by experiment.Then the Monte Carlo optimization is usedto determine the location of feeders and assembly point which is of highest success rate of assernbly process.The layout procedures presented is of great value to the design of flexible assembly system.

机器人装配工作站是机器人柔性装配系统的主要组成部分.本文采用蒙特卡罗原理研究作业系统误差、机器人位姿误差补偿和机器人柔顺性对机器人装配过程的影响,从而确定上料装置和定位装置的最优位姿,本文所提出的工作站规划方法对设计机器人装配工作站具有实用价值.

Teleptesence teleoperation system of forca sense is a novel advande telerobot system,which can perform a task in complicated environment by controlling the siave robot with human opera-tor perception. In this paper,the construction of telepresence teleoperation system and the present level of research as well as difficulties are introduced . At last, the guideline to the further research is pro-posed .

力觉临场感遥控作业系统是一种新型的高级遥控机器人系统,它通过操作者时机器人实现带感党的控制来完成复杂环境下的作业,本文介绍了临场感遥控作业系统的组成和当前对力觉临场感技术研究的几个主要方面及存在的困难,为进一步研究指明了方向。

 
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