西南大学18秋[0941]工业机器人作业
09411、斯坦福机器人反向求解的本质是。
分离变量法
高斯迭代法
最小二乘法
图形放大法
参考答案：分离变量法；
2、在选定的直角坐标系{A}中，空间任一点P的位置可用3×1的位置矢量AP表示，其左上标A代表选定的参考坐标系，<imgalt=""src="http://77file.eduwest.com/fileup/homework/0941/251/accessories/1346894588698/1338789398281/1346658460458.jpg"/>PxPyPz是点P在坐标系{A}中的三个。
速度分量
加速度分量
力分量
位置坐标分量
参考答案：位置坐标分量；
3、下面不属于工业机器人的三大组成部分的是。
机械部分
传感部分
动力部分
控制部分
参考答案：动力部分；
4、机器人运动学逆解问题的求解主要存在三个问题，下面哪一项不属于这三个问题之一（）。
逆解可能不存在
逆解的多重性
求解的实时性不足
求解方法的多样性
5、下面哪一项不是无刷直流电动机和传统直流电动机相比所具有的优点（）。
寿命延长
噪声减小
力矩增大
6、工业机器人的控制功能不包括下面哪一项（）。
位姿控制
速度控制
力控制
流程控制
7、下列不属于工业机器人控制系统特点的是（）。
运动描述简单
自由度多
信息运算量大
数学模型复杂
8、滚轮式传感器检测方向有（）个。
3
2
1
4
9、工业机器人感觉系统包括（）以及对传感器的数据进行分析处理从而得到对象的正确数据两部分。
手臂
传感器系统
手爪
行走机构
10、下边哪一项不属于对工业机器人传感器的要求（）。
精度高
抗干扰能力强
价格贵
质量轻、体积小
11、机械结构系统：由机身、手臂、手腕、（）四大件组成。
末端执行器
步进电机
3相直流电机
驱动器
12、用来表征机器人重复定位其手部于同一目标位置的能力的参数是（）。
定位精度
速度
工作范围
重复定位精度
13、陀螺仪是利用（）原理制作的。
惯性
光电效应
电磁波
超导
14、力传感器安装在工业机器人上的位置，通常不会在以下哪个位置（）。
关节驱动器轴上
机器人腕部
手指指尖
机座
15、力控制方式的输入量和反馈量是（）。
位置信号
力（力矩）信号
速度信号
加速度信号
16、下面哪种传感器不属于触觉传感器（）。
接近觉传感器
接触觉传感器
压觉传感器
热敏电阻
17、在工业机器人速度分析和以后的静力学分析中都将遇到类似的雅可比矩阵，我们称之为工业机器人雅可比矩阵，或简称雅可比，一般用符号（）表示。
L
P
J
F
18、在θ和d给出后,可以计算出斯坦福机器人手部坐标系{6}的位置p和姿态n、o、a，这就是斯坦福机器人手部位姿的解，这个求解过程叫做（）。
斯坦福机器人运动学正解
斯坦福机器人运动学逆解
斯坦福机器人轨迹规划
19、斯坦福机器人的手臂有两个转动关节，且两个转动关节的轴线交于一点，一个移动关节，共（）个自由度。
E.1
F.2
3
4
20、机器人逆运动学求解有多种方法，一般分为()类。
A.3
B.2
C.4
D.5
21、翻滚动作不包含在RPY动作中。
A.√
B.×
22、机器人轨迹控制过程需要通过计求解动力学正问题获得各个关节量的位置控制系统的设定值。
A.√
B.×
23、力传感器安装在工业机器人上的位置，通常不会在手腕。
A.√
B.×
24、斯坦福机器人反向求解的本质是分离变量法。
A.√
B.×
25、在θ和d给出后,可以计算出斯坦福机器人手部坐标系{6}的位置p和姿态n、o、a这就是斯坦福机器人机座位姿的解，这个求解过程叫做斯坦福机器人运动学正解。
A.√
B.×
26、操作臂在关节空间中的动力学方程的一般结构形式反映了关节力矩与关节变量、速度加速度之间的函数关系。
A.√
B.×
27、力控制方式的输入量和反馈量是力或力矩。
A.√
B.×
28、若给定了刚体上某一点的位置和该刚体姿态，则这个刚体在空间上是完全确定的。
A.√
B.×
29、远距离转动的RBR手腕有5个轴。
A.√
B.×
30、导航系统不属于常规工业机器人子系统。
A.√
B.×
31、在θ和d给出后,可以计算出斯坦福机器人手部坐标系{6}的位置p和姿态n、o、a，这就是斯坦福机器人手部位姿的解，这个求解过程叫做斯坦福机器人运动学正解。
A.√
B.×
32、谐波齿轮机构属于旋转传动机构。
A.√
B.×
33、机器人逆运动学求解有多种方法，一般分为两类。
A.√
B.×
34、传感器的基本转换电路是将敏感元件的微小信号进行变换，成为符合工业标准的信号
A.√
B.×
35、力矩增大不是无刷直流电动机和传统直流电动机相比所具有的优点
A.√
B.×
36、机械结构系统：由机身、手臂、手腕、末端执行器四大件组成。
A.√
B.×
37、陀螺仪是利用惯性原理制作的。
A.√
B.×
38、对于n个自由度的工业机器人，其关节变量可以用狭义关节变量表示。
A.√
B.×
39、斯坦福机器人的手臂有两个转动关节，且两个转动关节的轴线交于一点，一个移动关节，共3个自由度。
A.√
B.×
40、在工业机器人速度分析和以后的静力学分析中都将遇到类似的雅可比矩阵，我们称之为工业机器人雅可比矩阵，或简称雅可比，一般用符号J表示。
A.√
B.×
41、机器人运动学逆解问题的求解主要存在三个问题，求解的实时性不足不属于这三个问题之一。
A.√
B.×
42、在选定的直角坐标系{A}中，空间任一点P的位置可用3×1的位置矢量Ap表示，其左上标A代表选定的参考坐标系，PxPyPz是点P在坐标系{A}中的三个位置坐标分量。
A.√
B.×
43、在工业机器人速度分析和以后的静力学分析中都将遇到类似的雅可比矩阵，一般用符号J表示。
A.√
B.×
44、压觉传感器不属于触觉传感器。
A.√
B.×
45、工业机器人的手腕是连接手部与臂部的部件，起支承手部的作用。
A.√
B.×
46、J反映了关节空间微小运动dθ与手部作业空间dX之间的关系,且dX此时表示微小的线速度。
A.√
B.×
47、用来表征机器人重复定位其手部于同一目标位置的能力的参数是定位精度。
A.√
B.×
48、平行四边形机构不属于常见的手臂运动机构。
A.√
B.×
49、设定为直角坐标系时，机器人控制点沿着X,Y,Z轴运动。
50、机器人轨迹控制过程需要通过求解获得各个关节角的位置控制系统的设定值。
51、齐次坐标表示方向。
52、干涉区信号设置有两种：分别是绝对优先干涉区和。
53、在机器人的正面作业与机器人保持以上的距离。
54、工业机器人的是连接手部与臂部的部件，起支承手部的作用。
55、机器人的三种动作模式包括：示教模式、再现模式及。
56、力控制方式的输入量和反馈量是。
57、滚轮式传感器检测方向有个。
58、用来表征机器人重复定位其手部于同一目标位置的能力的参数是。
59、工业机器人感觉系统包括以及对传感器的数据进行分析处理从而得到对象的正确数据两部分。
60、机器人的驱动方式主要有液动、气动和方式。
61、斯坦福机器人反向求解的本质是。
62、模拟通信系统与数字通信系统的主要区别是。
63、设一机器人具有6个转动关节，其关节运动均按三次多项式规划，要求经过两个中间路径点后停在一个目标位置。试问欲描述该机器人关节的运动，共需要个独立的三次多项式。
64、机器人上常用的测速传感器有测速发电机和。
65、远距离传动的RBR手腕有个轴。
66、机械结构系统：由机身、手臂、手腕、四大件组成。
67、当有齿轮磨损等原因造成传动间隙增加时，利用中心距调整机构调整中心距,这种消隙方式叫做。
68、机器人按照机构特性可以划分为关节机器人和两类。
69、在θ和d给出后,可以计算出斯坦福机器人手部坐标系{6}的位置p和姿态n、o、a，这就是斯坦福机器人<u></u>，这个求解过程叫做斯坦福机器人运动学正解。
70、现代直流电机控制技术的主流是_______。
71、为了便于表示工业机器人手部端点对外界环境的作用力和力矩(简称为端点力F)，可将fn，n+1和nn，n+1合并写成一个6维矢量： ，各关节驱动器的驱动力或力矩可写成一个n维矢量的形式，即：<imgsrc="http://fs.eduwest.com/filesys/image.jsp?fc=10quoLw170f91d1_1483e4acfae_OUL"/>n表示关节的个数，τ表示关节力矩(或关节力)矢量，简称广义关节力矩；对于转动关节，τi表示关节驱动力矩；对于移动关节，τi表示关节驱动力。
72、公式<imgsrc="http://fs.eduwest.com/filesys/image.jsp?fc=00quoLz170f91d1_1483aeae75e_OUL"/>中，右边第一项表示仅由第一个关节运动引起的端点速度；右边第二项表示（）；总的端点速度为这两个速度矢量的合成。因此，工业机器人速度雅可比的每一列表示其它关节不动而某一关节运动产生的端点速度。
73、“角度设定法”就是采用相对参考坐标系或相对运动坐标系作三次 来规定姿态的方法。欧拉角法、RPY角法是角度设定法中常用的方法。
74、机器人运动学逆解问题的求解主要存在三个问题：逆解可能不存在、<u></u>和求解方法的多样性。
75、齐次坐标的表示不是<u> </u>的，我们将其各元素同乘一非零因子后，仍然代表同一点。
76、在选定的直角坐标系{A}中，空间任一点P的位置可用 的位置矢量AP表示，其左上标A代表选定的参考坐标系<imgsrc="http://fs.eduwest.com/filesys/image.jsp?fc=10quoLz170f91d1_1483a94b1bf_OUL"/>PxPyPz是点P在坐标系{A}中的三个位置坐标分量。
77、机器人是<u></u>。
78、6自由度机器人有解析逆解的条件是。
79、对于图（<spanlang="EN-US">a）所示的两个楔形物体，试用两个变换序列分别表示两个楔形物体的变换过程，使最后的状态如题图（<spanlang="EN-US">b)所示。<fontface="宋体"><imgwidth="553"height="234"src="data:image/png;base64,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"v:shapes="图片_x0020_88"/>(a)(b)<fontface="宋体">
80、有一旋转变换，先绕固定坐标系Z0轴转45?，再绕其X0轴转30?，最后绕其Y0轴转60?，试求该齐次坐标变换矩阵。
81、如下所式，T坐标系经过一系列微分运动后，其改变量为dT。求微分变化量（dx，dy，dz，）以及相对T坐标系的微分算子。<imgsrc="data:image/png;base64,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"/><imgsrc="data:image/png;base64,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"/>
82、<imgsrc="http://fs.eduwest.com/filesys/image.jsp?fc=00quoLa170f91d1_14835c2d7ac_OUL"/><imgsrc="http://fs.eduwest.com/filesys/image.jsp?fc=00quoLa170f91d1_14835c32f99_OUL"
83、<imgsrc="http://fs.eduwest.com/filesys/image.jsp?fc=10quoLa170f91d1_148359dac6e_OUL"/>
84、如图所示为平面内的两旋转关节机械手，已知机器人末端的坐标值{x,y}，试求其关节旋转变量θ1和θ2<imgsrc="http://fs.eduwest.com/filesys/image.jsp?fc=10quoLa170f91d1_148359b0799_OUL"
85、如题图所示的二自由度平面机械手，关节1为转动关节，关节变量为θ1；关节2为移动关节，关节变量为d2。试：（1）建立关节坐标系，并写出该机械手的运动方程式。（2）按下列关节变量参数求出手部中心的位置值。<imgwidth="239"height="96"src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAO8AAABgCAMAAADCSNWGAAAAAXNSR0ICQMB9xQAAAK5QTFRFAAAAAAAABAAADQsKBAgNCgQAAAQKBAQKDQsLCAMAAAMICwsNCwYDDQgEAAAECgsNAwYLCAMDCAoNDQoIAwADBAMICwgEAwAACAMEAwMEBAMECgoICAgNCwYIBAAEAAADCwsKCgQDCgYIDQsGAwMGAwAEBAYLDQgKBAYIAwQKCAYECwoIBAADCAQIAwMIAAQECgsKAwQECgQEAwMDBAgKCggNCAgIBAYKDQgIAwAGxX0GQAAAAAF0Uk5TAEDm2GYAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAAZdEVYdFNvZnR3YXJlAE1pY3Jvc29mdCBPZmZpY2V/7TVxAAAEGUlEQVR42u2cd3vbIBDGJWvEloTlWm3ckWbYXWndNN3t9/9iZWgg6SDCVmyojz/8EDBYP+AO9Ooiz8OE6SApmPg0hY/RdcR6jm3jPXO5e+QdfEHTWZIC9Rm42DO1CRBf7sdaXmrHEC+Z58EkHFZajcXCjfWcAbzTGaUi3Qq4tKp8snSXt3i6LD8eLq06fJa6y0sXLlvq4ZBSliI/OY/d8Fcj8AaT2CtWoeu8HQRVKTVrOrXT57nDvEb2y4eBxJ7DvNwTZ6B/7n89istZp3vbwn7eCNx/kxTaf8FSylu8ePnqwnudB5e55bzsvuEK2GEMzlfFyk+uJ2LUbpbWz++oaZ2eFC8J7bffMXFrJ90+bf2nvFmjIJwEr9w98iIv8iIv8iIv8iJvzQvfCBmp0kCVtbywpGykSkNVtvIqJeXhqjRYZSuvUlIermqBVdbxbt5UyxCWlIertGDV5m1u5fw+Fq+t61khKZuo0mAV2q8dvApJ2USVBqvs3X9BSdlIlYaqHDtfmanSQBWen4t3iq/ycJ6HI3rqRxftwInWOPN8/cWj8nIDhxJ7sMgMP9PHRvENoKRatMtrOyrzoEc9NG+kMoTigo4FJXifD5rdTuCEfI6t8wVw2DkwL/mgCIPgyJq6argWcNfyPtjks/jIvMWttB77rk4cVuY5YYsg868+Jp9Wfjid+QvuOenndlktk3bghHyua/LABB+Ud/o5lXk7HorHB9CLvDv/sl2yP4IJJby83y6ppdKpImFlvf3ACZi3LJB/56C87IcT5QZVXl329dYTD8+ZIZL4W84sVUwVXwFQ4IR8jm3ybMCOOL/sqWGk5i0nj39DXDNljL5TR3uXls5I8AKBE7D9Arzl/eBjJfl+sBDz1kQ7dNZzFDceWEyvWNJs41mn3FWJIQECJ+RzbJM/6nrmE0S3HCnaoe2dy9UYl+wU5sdPNrXB9tdvisAohb+CAifkc2ydP6K/Ev6VCAO+6e871AkL244Ete/P7yfznJ0pilVyTVuLqV14vcAJ5tGr85Wct2A/KtN650N1vSG1uvojFUp5aB0dg5fsEU7fOZOQUOxOjY+Pu/5ewau45TGSpfsNIF6yV4x/a9J0XenvFxSSspEsDTQAeLPx/l9ih670+rORLA01cEy/MpK1oAZW65P9lWsk00INkNci3r6kbCRLQw3Qfu3gVUjKRrI01MA1/dlIlgYauPZ830yW7jdA/Rl5kRd5kRd5kRd5kRd5kRd5neGtn5cZ6c+a+Jy2NL35aymvkf6siX/uSNO28hrpz9r3b7SlD+t4d9GvtO/faPPa+v+wRnqsJh4YeS3mHao/a+KfXeE9Nfs10p818c+u8Jrpz5r45440be/7CkY6X3WkaXx/HfIiL/KOd0En9n5RTJj2Tv8A/ehSuIY5RgMAAAAASUVORK5CYII="v:shapes="_x0000_i1026"/><fontface="宋体">机械手的运动方程式：<fontface="宋体"><imgwidth="209"height="96"src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAANEAAABgCAMAAAC0cmcNAAAAAXNSR0ICQMB9xQAAAIpQTFRFAAAAAAAABAAADQsKBAgNCgQAAAQKBAQKDQsLCAMAAAADCAoNCwYDDQgEAAMICwsNDQoIAwADAAAECgsNAwYLBAADCAMDBAMIBAgLCwgEAwMICwYICgsKBAgKAwAACAMEBAYLCAgNAwMEBAMECgoIBAAECAgICwsKCgQDCgYIDQsGAwMGAwAEAwAGpBTEWwAAAAF0Uk5TAEDm2GYAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAAZdEVYdFNvZnR3YXJlAE1pY3Jvc29mdCBPZmZpY2V/7TVxAAAD2klEQVR42u2caZuaMBDHAYH1AKVi73bb7V3bfv+v1xwgmoTJTFBWdPJi9XnMHL9kEpL/7hpF3CbQZkksWjpxikxC5A3Rw83MzcP9Es0X8XKFrOCUYFz0F3sZrzeIeKfO0UTVi1VU5IFEgHG5rR0j0NLuEOEM51ii2UsxCiVqyEjG80Xa73f+akV3jiVSgxBKBBjLAdY/XMm+3tCdm0SiJuX2J19kJ1Hk27odiCjzFoHqL6polrxZtNsoaFxK986yy+L12/x0taAyM4hkEZTL1XyxE2/Xm+rdJnpf60wxzyvV/0MSf0zEWi3b5QoZ9xHNkjyqHtPT8kRlZhA1s6fiCIfVY9642/UXXaZ9ygHU/ZVheqgl0LiNZC0vOR2f6qOO2MwMokJ/VOiR2wlbVTtqELWxZ5Jk/5aoyRM07llHKvHyuOjQmZlzpGpTPAjSthb022Y/mS+2tYdJ9DeJIGO11xXW/GV5M3PidLajZWYQyfKNqs/qcxGnetKLThWxNDkpBMeIq/4GEWwssnEsI0FUffn67Umsldn3mpSZudfJE6sYsWZHEVOrd6yyefURyf760Lv88dg+yWFj55lBOFr/TPTU/VqRMiOe6zxEFzH+vSE5v36iMo1ui6jMic7bgwaSKIsDD0KhxgX2HnpwTiSaQGMiJmIiJmIiJrpeIpriBjefIaDXOQQ7f2ZYIoJcRzME9TpbsPNnhqy6YLnOZwjqdRjBzgqAJAqW63yGoF6HEeysAK3N/k9X1jTF7VDMQTpfv15nCXbIzPZ/65M5oituh+IJ0vl6iSzBDpuZWXV0xU0nFqDzRccW9hCZgh02M2sdkRU3PVShOl/fOrIFO2xmjp2BqLh1CYTofD16XSfYdYodMjOr6uiKW1v1YTqfW6/rBLuDYofNzF5HdMVNI4XqfO4zw7FgpxU7bGa0c12wFDRIQ8IodtMiwih2kyJCKXahRMFy3QCdD6fYdQH4xsdETHQ+osNtYvLNvE1w1TERE52dqAj9S0+8obzFn9MvTASLaUDDG4r7AYEI4RckgsU0cNwJhgU+AMYvSASLaUAjGRKIMH5BIkBM8xYH3pBAhPF7j0QOMQ0XGWtIJfL4vbN11Cem4fak4kJ7XTFgr+sT0xDlQTDMKM8jv99nPzNIBY7wy8OhZ4YpNiZiIiZiIiZiIiZiIia6LaIeJX8EvY4Wwq/u7f9BRCPodbQQCHUPJBpBryOHKLBEz6UzkEN4icD/1hlB3SKHYCJHuMvqdeQQw4hubx2NoNeRQwwjGkOvo4bIhhFd3ZkBoe7d8/ecMBETnZ3o5r7TiRu3kdt/Wk9mHDeALUoAAAAASUVORK5CYII="v:shapes="图片_x0020_139"/><fontface="宋体">当θ，d<fontsize="2">2=0.5时：<fontface="宋体">手部中心位置值<spanlang="EN-US"><imgwidth="133"height="96"src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAIUAAABgCAMAAAAEjUE/AAAAAXNSR0ICQMB9xQAAAFRQTFRFAAAAAAAABAAADQsKBAgNCgQAAAQKBAQKDQsLCAMAAAMICwsNCwYDDQoIAwAADQgEAAAECgsNAwADCAoNAwMIAAADBAMIDQsGAwMGAwAEAwYLAwAGzG1rZQAAAAF0Uk5TAEDm2GYAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAAZdEVYdFNvZnR3YXJlAE1pY3Jvc29mdCBPZmZpY2V/7TVxAAACJUlEQVRo3u2aXXeCMAyGVT4EKaJzm5v7//9zFEXYaTITmlLxpBdeNOfgQ5MmfRtWKx2kkWzW7UiDPT+zj88fUmxneNPtwiiKclcBdgO7izBd73tX0Cna+IAomsMx2aSTps093jgeMQBFUbbPaRwDZXr0174U9dvp9sOebgbn+FK0S2ydlfKni3LYofEoriCpHEW9TydOZ7kIhUdcdFgyFF3UG3gzEKYbvkcyMF/sKjAxkKbr94qftdYfJ5ncadOwzZz9ay2ujrw+xWelFEqhFEqhFAEp4DLJkymwkUEBSwyeTEGMdApEYrBkCmakUyBHSdZxFDM+pjh/3ZcROtyzBAJmPH8fiWsRkoLuEURisGQKZlxKXPzZI4azR8x/e8RM2yOYxGDJFMTonTuZMsU7dwYcIwrkym/uamZses9jU2Q5VCBnprBhW5Sx18KmtOxwjExhRtfdXaReg3VeiqK8tMn9EnmPdIkd8Ehf2UOOobLbxH7fIrE8kmwu9s/jesR0rw4VBNUjEAVcJnl3fLDRW4/w+iOI0VeP8PojmNH33Mm7B8eMzDO4s8q8zgRmXCSFIzF4/RHMuLS4gCUGrz+CGb31CK8/ghgXlzsDDqVQCqVQCqVQirAUg1oWq6nOjdH5h0whpkfclgqdQk6PuKewxxTy506Xgv7lg5wSeBEKET3iQ/EccSGnR3woBPWI01JhfbsmlDvdlop+KaUUEyme4tt4HRHGLwvrN3zynt+1AAAAAElFTkSuQmCC"v:shapes="_x0000_i1027"/><fontface="宋体">当θ，d<fontsize="2">2=0.8时<fontface="宋体">手部中心位置值<imgwidth="205"height="120"src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAM0AAAB4CAMAAABmZYadAAAAAXNSR0ICQMB9xQAAAHJQTFRFAAAAAAAABAAADQsKBAgNCgQAAAQKBAQKCwYDAAAECgsNDQoIAwAADQgEAAMICwsNBAAEDQsLCAMAAwYLCgQECAYDDQoLBAADCAoNAwADAwQKBAMIAwYIAwMICAMECgsKCAgNDQsGAwMGAwAEAAADAwAGscHSvwAAAAF0Uk5TAEDm2GYAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAAZdEVYdFNvZnR3YXJlAE1pY3Jvc29mdCBPZmZpY2V/7TVxAAADwklEQVR42u2cfWObIBDGjW8lGpsl6bZuXde9fv+vOEBRjJwemMyYPvdHsXqH/AROfEwSRbBVWhJvpKW33sxMtTKfpnlYz4V/eLc0whpwWdutYrMt7JI2O77cEeNCuEd1f3f1uK+nQBp1pR9NtS2SuKkyk9Vlua6qZjDliNnxqnXOVvecqN1JLE+ffCgiIU9qSj+awzFtLoraPtXbSZw39U9OQDuePG/Pidz99FFuflLd8/m5Lf1oyi/PzR9Vu6xOSKKs6ZFssmd68VFFZMmeE7W7SkUDVn6N7NKDplINNt1d7vLkRXXNt1hNF1NODLQ2/nAk0mnvJMRu2aCGpnxtoF73s2jkxVX/VpvX4nDcFqbk0tRAaRjNU9HQyLmnT2lKb5pyV9d4+P6mpn1VI6WmHATre1rdD714fSwnaGyn4e7yR2T6RnKc7DJw3kTZSec1c82ISzo+Jao8aN40Fyhts1FX+ua05qLohsvUqEt5FlNO5jRhpasqZTi5d7ebWWqXXvebx725/DqnqYypEr0aMaYcnThdvD11R52I3W1O66eBgLWAJlFJSddo1gQZY8nXxauVwON+xGkk1tDIJK/rMGX0rtdpoPm/NC970IAGNKABDWhAAxo/GpYuNvBkKnBiVCV2yGozaVi62MCTqcAReprzqJbVZtKwdLGBJ1OBI/Q091Etq82kYeliA0+mAkfoAs6jnazmQfPz16C3p3WxgSdTgRuXSwhZrWvq78K3b1i6mMOTpcB50LSy2qyRxtLFhp48BY7Q0xxHbVntUvNGnyNnzBumAsefN7asNjenTeliA0+mAkfoacRRcYn7DUcXO/fkKnCEnuY+egkani525slW4DhrAVtWm01zs2bTEO+o17rqFGoVlN8LjZyUZkSun0Zli8PxXvpG3dAca8GV0tiPKtYbvnXSqCeQcneK7qNv9DLDMdLOnwhu2KwnAqFv2E1KW/tIS2K1yN3cx0gTuiv+OJbi0NPWRyO8Px7JiuA4UT7hNOPCV3AEx4n0CaYZF76CIzhOtE8wzfgDfHAEx4n2CabhfE4oIILjRPuApquSFL6CIzhOtA/mTZdYhHdOE5ycJhg5TVw0p00IX8ERHCfSB2uB2zXQgAY0oAENaEADGtCsloZS1RdcQzveANZN/RtKs6CelsSbC9MsqKdF5NMpg+bmdAGaJvgbKwsqUKDh0Cyjp12B5r7mzYJ62hVoltTT6g9XX5RmwbWA+rEH1xtafEMSNKC5Es1d/dYQDAaDwWAwGAwGg8FgMBgMBoPBFrB/pjpVEZmyBHgAAAAASUVORK5CYII="v:shapes="_x0000_i1028"/><fontface="宋体">当θ，d<fontsize="2">2=1.0时<fontface="宋体"><fontface="宋体">手部中心位置值<spanlang="EN-US"><imgwidth="217"height="96"src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAANkAAABgCAMAAACnpSf5AAAAAXNSR0ICQMB9xQAAAGBQTFRFAAAAAAAABAAADQsKBAgNCgQAAAQKBAQKCwYDDQoIAwAAAAAECgsNDQgEAAMICwsNDQsLCAMAAwYLAwADCAoNBAMIAwYIAwMICAMECgsKBAAEDQsGAwMGAwAEAAADAwAGT6hmuAAAAAF0Uk5TAEDm2GYAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAAZdEVYdFNvZnR3YXJlAE1pY3Jvc29mdCBPZmZpY2V/7TVxAAADXUlEQVR42u2c63qbMAyGOQRqEkggbddt3eH+73K2gca0ki056eZ40o/SPrWMXmwL8eGkKMSysroqte3uKeTGRNyGyR7uc0AehMwx5UzObk8Z9/dezZuTKg+9e8Q8Ah1+DCOGbDj0dbW7dE9bg65XczwVTWvX8MyzHvHz+DsEwoggGyfdxaBjY01V12uczvPvddUuSar1ewQ6hMKIIOsen5Yf5sJRs6brNU46IKXpmmWkGmDEtucJ/BsII4JsMGEs82CcSuIyc730qmjrZzNkXyqzvNajx8PfIRTGlWRzrzsumb7G5s+hfOnH6dCvx2gyKIxYsm5/6adBB83eMefLufEav34zKWOY8XbrMXAeXhjXrjN7Dsp03Hg1Z5sf18sOjw5nnQFhxOZG5eSsgTIbXS8LUX+fk7YObj0GzsMLI+p+djy5F7h7OZFSyMXL5kaTsJUeLDOJ1qP3PAUvjCtqEBOfufUfSWCul81l1m2tRRoww5JqECwMqRuFLCGy55OQCZmQCZmQCZmQCVnaZHzFcGtcnRKp9WlhcMj4iuHWuDolojcSw2CQ8RXDrXF1SkRvpIbBIOMrhlvj6pSIDkINg0D2+uNtFjAVww+ziKVTIqocNYzXnz11zPiKoTfSoE5JIfOEwZiNfMUQCImmU8LteWFErjOaYhhYNwGdkrDOfGFwcyNLMQSSGkOnRPRGahis+xlbMXw3j5g6JaI3EsOIqEE4iuHWuDqltwYJhfF/1I3IXoMcKmJlKrI2RzK99uzszY7MZJxxynHMzH0OqGwzIHMfmZz3sPdPZh52uv25yG/MbFUCzMb1KebOzHmKUfaevqTGnGZjXZm6ucxvNio7RL+Aal30xnzIVOQWXLofqSXWKJ4ssPsQNbofqSXaKJossPsQNbofqSXeKJossCsKNbofqSXeKJqMoulc50dqiTcSMrhLfPehPxSSH6kl3kjWGZyUVGRuVOTcqCi5Ud00N4Z2H+Lzh+xHaok2khrk/kzIhEzIhEzIhEzIhEzIhOxGZNgbi0RqfeAt7Rz271iyRPTGuipvTJaI3ligj90EsqR1EJws+lNaiahyQsYl+/d64yeQ5bvOEtEbP4EsFb1x3rN/U7JEahDz/UfQ23X51LGQCVkiZNl+R5mY2F+1Py1oUHkM5/J9AAAAAElFTkSuQmCC"v:shapes="_x0000_i1029"/><fontface="宋体">当θ，d<fontsize="2">2=0.7时<fontface="宋体">手部中心位置值<spanlang="EN-US"><imgwidth="143"height="96"src="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAI8AAABgCAMAAAATr9H2AAAAAXNSR0ICQMB9xQAAAFdQTFRFAAAAAAAABAAADQsKBAgNCgQAAAQKBAQKCwYDDQsLCAMAAAMICwsNDQgEAAAECgsNDQoIAwADCAoNAwAAAAADBAMIDQgKAwYLCgQDDQsGAwMGAwAEAwAGmwxcrgAAAAF0Uk5TAEDm2GYAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAAZdEVYdFNvZnR3YXJlAE1pY3Jvc29mdCBPZmZpY2V/7TVxAAACUElEQVRo3u2b7XrCIAyFO22VdmrVfXRuu//rXGm1MgmEtNCCT/ixH5yH+dpAwoGaZdzGt/XqpW15+A8q5OdscJ7tnF9+my6PwKJWVq87rdM6ShMJPPtDvV7l9omm81hH6aI7T1m1A/fAA1C/riZbRwGiO8/xdL7+ofBYRwGiO0/7bGVIchqPdRQgJs5zfMuhJHbLYwYefZRRTHf+dItBjFpfwra+xMj1JRcmMn2yAsg/tlG66DM/y8L7fp4tP8/SmAf5sI8d8zAP8zAP8yTOA9qrvlmKuEFSuoXcX143BgQe0F71zWKyDJLS3Z8PXP81KV7C3Uchktr9WUu+JvPHY9kkGySt++vszHP5xngspsYgPXYPGJefevrzmc5zC5efeFlMlkF67L6FK5L5c6fwt76EeX2htmwIF42nMOYfs8kySP+7h3AR8yFgr6bl5z7lKxAR1y/Tceti9VTImrKJh6fYgCV8KR4538sqnucjc2ZxqKPhEcothXoKtxBPWTVtRWmiWV9dNYHidd9vzNDu+w1ZTYbltXy81qtGYsQSr26PD5cn9l+OPPQijkjQ+ao7D91kIRJ4/+XMQzdZiATffznz0DfJiATfXzjz0E0NIsH3TWnzkEwWIsH3X8nOH7rJQiT4/ouQf8gmC5HA+6908/MsjXmYh3mYh3mY50l5hvOEAPVdO4+7/DrzBPBf+pWaO08A/5XpW0cHnnD7Z4DHy/t+Y/3O8/H49V+TeGKbPwH81ySeEP5Lv1Lz9P7hyPysX6nx+37ME5onst+ncIut/QFheTdS5SgGBAAAAABJRU5ErkJggg=="v:shapes="_x0000_i1030"/>
86、单连杆机器人的转动关节，从q=–5°静止开始运动，要想在4s内使该关节平滑地运动到q=+80°的位置停止。试按下述要求确定运动轨迹：(1)关节运动依三次多项式插值方式规划。(2)关节运动按抛物线过渡的线性插值方式规划。
87、试论述工业机器人的应用准则。
88、试论述轮式行走机构和足式行走机构的特点和各自适用的场合。
89、为什么要引进齐次坐标,它有什么优点?
90、机器人技术的发展趋势
91、试论述机器人静力学、动力学、运动学的关系。
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