鎽樿锛�鐩殑鏈枃浠ラ洐闂�(gu膩n)绡€(ji茅)SCARA姗熸鑷傜偤灏嶈薄锛岀爺绌跺湪鍏堕棞(gu膩n)绡€(ji茅)瑙掑害鍙脯銆佽閫熷害涓嶅彲娓儏娉佷笅鐨勫姏鎺у埗鍟忛銆傛柟娉曞熀浜庤娓櫒鐞嗚珫锛屾枃绔犱腑鍒╃敤Walcott-Zak瑙€娓櫒鏀归€�(j矛n)鍚庣殑榄婊戞ā瑙€娓櫒锛屽皪绯荤当(t菕ng)鐨勭媭鎱�(t脿i)璁婇噺閫�(j矛n)琛岃娓紝鐢ㄦ粦?锛熷垈鍝佹鈻藉纯F(xi脿n)灏嶅伐妤�(y猫)姗熷櫒浜虹殑鍔涙帶鍒�銆傜祼(ji茅)鏋滈€氶亷Matlab灏嶈娓櫒鐨勮娓晥鏋滄帶鍒跺櫒鐨勬帶鍒舵晥鏋滈€�(j矛n)琛屽闅涚殑浠跨湡锛岀祼(ji茅)鏋滆〃鏄庝及瑷堝€兼渻寰堝揩閫熺殑鏀舵杺浜庡闅涘€�锛屼笖姗熸鑷傜殑鏈鍔涘緢濂界殑璺熻工鏈熸湜鍔�銆傜祼(ji茅)璜栭亱鐢ㄦ敼閫�(j矛n)鍚庣殑榄婊戞ā瑙€娓櫒灏嶆姊拌噦鍔涙帶鍒剁郴绲�(t菕ng)鐨勯棞(gu膩n)绡€(ji茅)瑙掗€熷害浼拌▓鏁堟灉鏄壇濂界殑锛屽叿鏈夎壇濂界殑榄鎬�锛屼笖鐐烘粦妯″姏鎺у埗鎻愪緵浜嗘瘮杓冩簴(zh菙n)纰虹殑瑙掗€熷害鍊�锛屽苟涓斿湪婊戞ā鍔涙帶鍒跺櫒鐨勪綔鐢ㄤ笅锛屽緱鍒颁簡鑹ソ鐨勫姏/浣嶈窡韫ゆ晥鏋�銆�

闂�(gu膩n)閸佃锛�宸ユキ(y猫)姗熷櫒浜猴紱婊戞ā瑙€娓櫒锛涘姏鎺у埗锛涙粦?锛熷垈?/p>

1.寮曡█

宸ユキ(y猫)姗熷櫒浜洪棞(gu膩n)绡€(ji茅)鏄竴鍊嬪京(f霉)闆滅殑澶氳几鍏�锛屽杓稿嚭鐨勯潪绶氭€х郴绲�(t菕ng)锛屽彈璨�(f霉)杓夎畩鍖栦互鍙婂悇绋笉鍙爯(y霉)瑕嬬殑澶栭儴骞叉摼鍜屼笉纰哄畾鍥犵礌鐨勫奖闊縖1,2]銆傛墍浠ユ垜鍊戝皪宸ユキ(y猫)姗熷櫒浜洪€�(j矛n)琛屾帶鍒舵檪锛岄潰鑷ㄨ憲瑷卞鍟忛銆傜壒鍒ユ槸鍦ㄥ伐妤�(y猫)姗熷櫒浜哄姏鎺у埗鏂归潰锛屾垜鍊戦潰鑷ㄨ憲鎺у埗妯″瀷绮剧⒑搴�锛屾帶鍒跺櫔鑱插ぇ骞叉摼澶х瓑鍟忛銆�

婊戞ā璁婄祼(ji茅)妲�(g貌u)鎺у埗鏄�20涓栫磤(j矛)50骞翠唬鐢卞墠铇囪伅(li谩n)瀛�(xu茅)鑰匛melyano鎻愬嚭鐨勮畩绲�(ji茅)妲�(g貌u)鎺у埗,瀹冧互鍏剁崹鐗圭殑鍎�(y艒u)榛�,鐐轰笉纰哄畾鎬х郴绲�(t菕ng)鎻愪緵浜嗕竴绋緢鏈夊墠閫旂殑绯荤当(t菕ng)鎺у埗缍滃悎鏂规硶[3]銆傚湪宸ユキ(y猫)姗熷櫒浜哄姏/浣嶇疆鎺у埗鏂归潰锛屾贩鍚堟帶鍒舵柟娉曡兘寰堝ソ鐨勫鐝�(xi脿n)鍔涗綅鎺у埗瑙ｈ€�锛屼絾鍏朵富瑕佺己榛炴槸绯荤当(t菕ng)妯″瀷鐨勭簿搴﹁姹傝純楂�锛岀偤浜嗚В姹洪€欎竴鍟忛锛屾枃鐛�(xi脿n)[4,5]閲囩敤婊戣啘鎺у埗灏嶇郴绲�(t菕ng)鍙冩暩(sh霉)閫�(j矛n)琛岀洿鎺ヨ鍎�锛屾秷闄ゅ弮鏁�(sh霉)鐨勪笉纰哄畾鎬�銆傛枃鐛�(xi脿n)[6,7]閲囩敤鍩轰簬鍙冭€冩ā鍨嬬殑鑷仼鎳�(y墨ng)鎺у埗鏂规硶锛岃ō(sh猫)瑷堣嚜閬╂噳(y墨ng)瑾�(di脿o)鏁寸巼,渚嗚В姹哄弮鏁�(sh霉)瑁滃劅?sh霉)鎷裤仱鍟冩荡锛劅^浠ヤ笂鏂囩嵒(xi脿n)鍙互鐪嬪嚭锛屾粦鑶滄帶鍒剁悊璜栧湪宸ユキ(y猫)姗熷櫒浜烘帶鍒剁殑浣滅敤鏄湁鏁堢殑銆�

鍒╃敤绨″柈鏈夋晥鐨勮睛娉�锛屼娇鎺у埗绯荤当(t菕ng)鏇村姞婧�(zh菙n)纰哄揩閫�锛屾槸鎴戝€戝叡鍚岃拷姹傜殑鐩(bi膩o)銆�

2锛庡晱椤屾彁鍑哄強瑙ｆ焙鏂规

鍦ㄦ姊拌噦閫�(j矛n)琛屽姏鎺у埗鐣�(d膩ng)涓�锛岄渶瑕佹娓闅涘姏渚嗕綔鐐烘帶鍒舵墍闇€瑕佺殑閲�銆備絾鍦ㄥ闅涙儏娉佷笅锛屽彲浠ユ脯寰楁姊拌噦鐨勯棞(gu膩n)绡€(ji茅)瑙掑害鍜屼綅缃�锛屼絾鐒℃硶閫氶亷鍌虫劅鍣ㄤ締娓緱姗熸鑷傞棞(gu膩n)绡€(ji茅)瑙掑姞閫熷害銆傚浣曞埄鐢ㄦ湁鏁堢殑鏂规硶锛屽厠鏈嶉€欎簺涓嶇⒑瀹氭浠�锛屽鐝�(xi脿n)婧�(zh菙n)纰虹殑鍔涙帶鍒舵晥鏋�锛屾槸鏈枃鐨勯噸榛炵爺绌跺晱椤屻€�

Walcott鍜孼ak绛変汉閲囩敤璁婄祼(ji茅)妲�(g貌u)鎶€琛�(sh霉),鎻愬嚭浜哤alcott-Zak瑙€娓櫒,灏嶇郴绲�(t菕ng)涓殑闈炵窔鎬�/涓嶇⒑瀹氭€у潎鍏锋湁榄鎬8]銆備絾鍦ㄥ闅涚殑瑷�(sh猫)瑷堢暥(d膩ng)涓�锛岃ō(sh猫)瑷堝弮鏁�(sh霉)鐭╅櫍蹇呴爤婊胯冻鍋囪ō(sh猫)鐨勬浠�瑷�(sh猫)瑷堥亷绋嬬箒鐟�锛岀暥(d膩ng)绯荤当(t菕ng)缍暩(sh霉)杓冮珮鏅傞洠浠ヨō(sh猫)瑷�锛屽埄鐢ㄦ敼閫�(j矛n)鍚庣殑榄婊戞ā瑙€娓櫒锛岃兘澶�?q奴)宕縁(xi脿n)寰堝ソ鐨勬晥鏋滐紝鍗冲叿鏈夊緢寮风殑榄鎬�锛岃ō(sh猫)瑷堥亷绋嬩篃璁婂緱绨″柈銆�

閬嬬敤鏀归€�(j矛n)鐨刉alcott-Zak瑙€娓櫒锛屼締瑙€娓棞(gu膩n)绡€(ji茅)瑙掑姞閫熷害锛屽苟涓斿埄鐢ㄦ粦妯″姏浣嶆贩鍚堟帶鍒跺櫒瀵︾従(xi脿n)姗熸鑷傜殑鍔涙帶鍒�锛岄€欐槸鏈枃鐨勬柟妗堣ō(sh猫)鎯�銆�

3.妯″瀷鐨勫缓绔�

浠CARA姗熷櫒浜虹偤鐮旂┒灏嶈薄锛屽鍦�1鎵€绀�锛屽叾鍕曞姏瀛�(xu茅)妯″瀷濡備笅锛�

                    锛�1锛�

鍏朵腑锛�琛ㄧず鍚勫€嬮棞(gu膩n)绡€(ji茅)鐨勪綅缃悜閲�锛�锛�鍒嗗垾琛ㄧず鍚勫€嬮棞(gu膩n)绡€(ji茅)鐨勮閫熷害鍜岃鍔犻€熷害锛�琛ㄧず浣滅敤浜庨棞(gu膩n)绡€(ji茅)涓婄殑杞�(zhu菐n)鐭╃煝閲�锛�鏄鍣ㄤ汉灏嶇ū涓旀瀹氭湁鐣岀殑鎱ｆ€х煩闄ｏ紝鏄鍣ㄤ汉鍚戝績鍔涘拰鍝ユ皬鍔涚煩闄�锛�琛ㄧず搴€懇鎿﹀姏銆備笖鐭╅櫍M鍜孒鍙敱涓嬪紡婧�(zh菙n)纰鸿▓绠楀緱鍒帮細

                      锛�2锛�

鐐哄父鏁�(sh霉)銆�

鍦�1SCARA姗熷櫒浜烘ā鍨�

鍏朵腑鍕曞姏瀛�(xu茅)妯″瀷鐗规€у涓�:

寮忥紙1锛夋墍绀虹殑姗熷櫒浜哄嫊鍔涘(xu茅)鏂圭▼鏈変竴浜涚壒鎬�锛屾湁鍒╀簬灏嶈┎绯荤当(t菕ng)妯″瀷鐨勭爺绌跺強鍏惰娓櫒鐨勮ō(sh猫)瑷堣垏鍒嗘瀽锛岀壒鎬у涓媅9]锛�

鐗规€�1    鎱ｆ€х煩闄�鏄皪绋辨瀹氱殑锛屽皪鎵€鏈夌殑涓€鑷存湁鐣�锛屽嵆

锛�鐐烘甯告暩(sh霉)銆�                      锛�4锛�

鐗规€�2    鍝ユ皬鍔涚煩闄�婊胯冻锛�

锛�鐐烘甯告暩(sh霉)銆�                      锛�5锛�

鐗规€�3    鏂滃皪绋辨€э細灏嶉仼鐣�(d膩ng)閬稿畾鐨勫摜姘忓姏鐭╅櫍鏈夛細

                      锛�6锛�

4.鍕曞姏瀛�(xu茅)鐙€鎱�(t脿i)鏂圭▼鍙婄媭鎱�(t脿i)瑙€娓櫒鐨勮ō(sh猫)瑷�

4.1鍕曞姏瀛�(xu茅)鐙€鎱�(t脿i)鏂圭▼

閫氶亷寮忥紙1锛夌殑姗熷櫒浜哄嫊鍔涘(xu茅)妯″瀷锛岀稉(j墨ng)璁婃彌鍙緱[10]锛�

                      锛�7锛�

鍏朵腑锛�

                      锛�8锛�

涓�

浠よ畩閲�锛屽叾涓細锛�锛屽墖鏈�

                      锛�9锛�

鍏朵腑锛�

鍓囨鍣ㄤ汉鐨勫嫊鍔涘(xu茅)妯″瀷鍙鎴愬涓嬪舰寮�锛�

                      锛�10锛�

鍏朵腑锛�

4.2鐙€鎱�(t脿i)瑙€娓櫒鐨勮ō(sh猫)瑷�

灏囧紡锛�10锛夊彲浠ヨ畩?y艒u)妲跨鸡婊﹂棶?/p>

                      锛�11锛�

鍏朵腑锛�銆�

涓旀豢瓒�锛屽叾涓�鐐烘瀵︽暩(sh霉)锛�鐐哄凡鐭ュ嚱鏁�(sh霉)銆�

灏嶄簬涓婇潰鐨勭郴绲�(t菕ng)锛屾彁鍑哄涓嬪舰寮忕殑榄婊戞ā瑙€娓櫒

                      锛�12锛�

鏈変笂闈㈠紡锛�11锛夊拰寮忥紙12锛夊緱鍒板亸宸柟绋嬬偤

                      锛�13锛�

寮忎腑?锛涱儫锛碠(sh猫)瑷堝涓嬶細

                      锛�14锛�

寮忎腑C鐐虹郴绲�(t菕ng)鐨勮几鍑虹煩闄�锛�锛屼笖瀛樺湪Lyapunov灏�

婊胯冻

锛�                      锛�15锛�

鍋囪ō(sh猫)绯荤当(t菕ng)鑸囪娓櫒鐨勫亸宸湁鐣�锛岀偤姝ｅ父鏁�(sh霉)锛屾彁鍑哄涓嬫粦妯＄瓥鐣ワ細

                      锛�16锛�

涓攑婊胯冻鏅傛垜鍊戣ō(sh猫)瑷堝弮鏁�(sh霉)鐭╅櫍F浣垮緱锛�鐨勮鏄庤涓嬮潰鐨勮瓑鏄庯級鐐篐urwitz鐭╅櫍锛屼娇绯荤当(t菕ng)婕搁€�(j矛n)绌�(w臎n)瀹氾紝鍗冲叾鍋忓樊绯荤当(t菕ng)閬�(d谩)鍒版粦妯￠潰浠ュ悗灏囨几閫�(j矛n)鏀舵杺鍒板钩琛￠粸銆�

灏嶄簬鐭╅櫍F鐨勯伕鍙栭噰鐢ㄥ涓嬬畻娉曪細

(1)閬告搰鐨勮瓬锛岃▓绠楃浉鎳�(y墨ng)鐨勭煩闄锛�

(2)鐢ㄧ煩闄鍚勫€嬪厓绱犵铏熻〃绀哄嚭鐭╅櫍M

(3)瑷�(sh猫)瑷團浣垮叾鐭╅櫍鐐篐urwitz鐭╅櫍銆�

鏀舵杺鎬ц瓑鏄庯細閬稿彇Lyapunov鍑芥暩(sh霉)娌胯憲鍋忓樊绯荤当(t菕ng)锛�13锛�锛屼笖

                      锛�17锛�

瑷�(sh猫)瑷堝弮鏁�(sh霉)涓斿亸宸�灏囩瓥鐣ワ紙16锛変唬鍏ュ緱

                      锛�18锛�

鎵€浠�锛�銆傛牴鎿�(j霉)鏂囩嵒(xi脿n)[11]鍙緱鏈夌窔鏅傞枔鍏�(n猫i)鍋忓樊绯荤当(t菕ng)鍒伴仈(d谩)婊戞ā骞抽潰銆�

鍒伴仈(d谩)婊戞ā骞抽潰鍚�

                      锛�19锛�

寮忓瓙鏄皣婊戞ā闈㈢殑鍒嗗褰㈠紡銆�

鍗冲皣寮忥紙13锛夊垎鐐�

                      锛�20锛�

                      锛�21锛�

瀹氱京鐭╅櫍

                      锛�22锛�

閫氶亷寮忥紙19锛夊彲浠ュ緱鍒�

                      锛�23锛�

浠ｅ叆锛�20锛夊緱

                      锛�24锛�

鎵€浠ュ湪瑷�(sh猫)瑷堟檪淇濊瓑F浣垮緱鐐篐urwitz鐭╅櫍锛岄€欐ǎ浣跨郴绲�(t菕ng)锛�24锛夋几閫�(j矛n)绌�(w臎n)瀹�锛屼笖淇濊瓑鍋忓樊绯荤当(t菕ng)锛�13锛夊埌閬�(d谩)婊戞ā闈㈠悗瓒ㄤ簬绌�(w臎n)鎱�(t脿i)銆�

5.婊戞ā鍔涙帶鍒跺櫒瑷�(sh猫)瑷�

鍦ㄥ姏鎺у埗鍣ㄨō(sh猫)瑷堟柟闈㈤噰鐢ㄥ姏浣嶆贩鍚堟帶鍒剁殑鏂规锛屽苟涓旈€愪竴瑷�(sh猫)瑷堝叾浣嶇疆鎺у埗鍣ㄥ拰鍔涙帶鍒跺櫒銆�

鍦�2鍔涗綅娣峰悎鎺у埗绲�(ji茅)妲�(g貌u)鍦�

5.1浣嶇疆鎺у埗閮ㄥ垎鎺у埗鍣ㄧ殑瑷�(sh猫)瑷�

浣嶇疆鎺у埗鍣ㄦ湰鏂囬噰鐢ㄧ啊鍠殑婊�?锛熷垈鐮�?锛屼綅缃帶鍒堕儴鍒嗗鐝�(xi脿n)鐨勬槸涓€鍊嬭粚璺¤窡韫ゆ帶鍒讹紝閫氶亷鎺у埗鍣�锛屽鐝�(xi脿n)鍦ㄦ姊拌噦鍦ㄤ綅缃帶鍒舵柟鍚戯紝瀵﹂殯浣嶇疆灏嶆湡鏈涗綅缃殑璺熻工銆�

瀹氱京鎺у埗绯荤当(t菕ng)浣嶇疆璺熻工鐨勮宸煩闄�锛�

                      锛�25锛�

鍏朵腑锛�鍒嗗垾琛ㄧず鍏╁€嬮棞(gu膩n)绡€(ji茅)瑙掑害鍜屽彨鏁�(sh霉)搴︾殑璺熻工瑾ゅ樊锛屼笖鍜�鍒嗗垾琛ㄧず鍏╁€嬮棞(gu膩n)绡€(ji茅)鐨勮搴﹀拰瑙掗€熷害鐨勪及瑷堝€�锛�鍒嗗垾鐐虹郴绲�(t菕ng)鏈熸湜鐨勯棞(gu膩n)绡€(ji茅)瑙掑害鍜岃閫熷害銆�

婊�?锛熷垈鐮撮灟骞曨儫锛氱槷?sh霉)鍚戦噺瑷�(sh猫)瑷堢偤锛�

                      锛�26锛�

閬稿彇Lyapunov鍑芥暩(sh霉)濡備笅锛�

                      锛�27锛�

涓旂敱寮忥紙25锛夊緱锛�

                      锛�28锛�

鏍规摎(j霉)鐙€鎱�(t脿i)鏂圭▼鍙緱锛�

                      锛�27锛�

锛�                      锛�28锛�

鎵€浠ョ煩闄�琛ㄧず闂�(gu膩n)绡€(ji茅)1,2鐨勮娓宸�銆�

鏍规摎(j霉)瓒ㄨ繎寰嬫柟娉�锛屾湁

                      锛�29锛�

涓斿叾涓�

                      锛�30锛�

寮忎腑锛�

锛�

锛�

鐐鸿ō(sh猫)瑷堝弮鏁�(sh霉)锛�涓�

鍙互閫氶亷瑙€娓櫒瑙€娓€�鍜岃娓宸�锛屼笖鍙鎺у埗澧炵泭鐭╅櫍鐐哄彲閫嗙煩闄ｏ紝鍓囧彲浠ヨō(sh猫)瑷堟帶鍒跺緥鐐�

                      锛�31锛�

閫氶亷Walcott-Zak瑙€娓櫒鏀归€�(j矛n)鍚庣殑榄婊戞ā瑙€娓櫒锛屽緱鍒板叐鍊嬮棞(gu膩n)绡€(ji茅)鐨勮閫熷害瑙€娓€�锛岀劧鍚庡埄鐢ㄦ粦?锛熷垈鐮�?锛屾槸鐨勬姊拌噦鍦ㄤ綅缃帶鍒舵柟鍚�?q奴)宕縁(xi脿n)寰堝ソ鐨勪綅缃窡韫�銆�

5.2鍔涙帶鍒堕儴鍒嗘帶鍒跺櫒鐨勮ō(sh猫)瑷�

瑷�(sh猫)瑷堟鍣ㄤ汉鍔涙帶鍒跺櫒锛岄渶瑕佹妸鍕曞姏瀛�(xu茅)鏂圭▼璁婂寲濡備笅锛�

                      锛�32锛�

寮忎腑鐐哄湪鎿嶄綔绌洪枔涓鍣ㄤ汉鏈鍙楀埌鐨勫姏鍚戦噺锛�锛孞鐐洪泤鍏嬫瘮鐭╅櫍锛�锛�

X鐐烘鍣ㄤ汉鏈鍦ㄦ搷浣滅┖闁撲腑鐨勪綅绉�锛�

銆�

鍙栨湡鏈涚殑鏈鍔涚偤锛屽埄鐢�

                      锛�33锛�

鐞嗘兂姗熷櫒浜烘湯绔綅缃偤瀹氱京婊戞ā鍑芥暩(sh霉)鐐�

                      锛�34锛�

鍏朵腑

鍓�

                      锛�35锛�

鎵€浠ユ粦妯″姏鎺у埗鍣ㄧ偤

                      锛�36锛�

閫氶亷浣嶇疆鎺у埗鍣ㄥ緱鍒扮殑浣嶇疆鎺у埗鍔涚煩鑸囬€氶亷鍔涙帶鍒跺櫒寰楀埌鐨勫姏鎺у埗鍔涚煩鐩稿姞锛屽緱鍒版渶绲傜殑姗熷櫒鑷傛帶鍒跺姏鐭�

锛屽嵆锛�

                      锛�37锛�

6.瀵﹂鍙冩暩(sh霉)瑷�(sh猫)瀹氬強浠跨湡鏁堟灉

鏍规摎(j霉)闆欓棞(gu膩n)绡€(ji茅)鐨凷CARA姗熷櫒浜哄嫊鍔涘(xu茅)妯″瀷浠ュ強寮忥紙10锛夊紡锛�11锛�锛岄€�(j矛n)琛孧atlab浠跨湡宸ヤ綔锛屼締椹楄瓑鎵€瑷�(sh猫)瑷堢殑榄婊戞ā瑙€娓櫒鍙垚鍔熺殑浼拌▓鍑烘鍣ㄤ汉瑙掗€熷害锛屼互鍙婂姏浣嶆帶鍒跺櫒鐨勮窡韫ゆ晥鏋�銆�

绲﹀畾鍏朵腑鐨�銆傜郴绲�(t菕ng)鍒濆鐙€鎱�(t脿i)

鐐�锛岃娓櫒鍒濆鐙€鎱�(t脿i)鐐�

銆傚苟涓旂郸瀹氭湡鏈涚殑闂�(gu膩n)绡€(ji茅)瑙掑害鍜岄棞(gu膩n)绡€(ji茅)鍔犻€熷害鐐�銆�

灏嶄簬濡備笂绯荤当(t菕ng)锛屾彁鍑虹殑榄婊戞ā瑙€娓櫒鐨勮ō(sh猫)瑷堟柟娉曞涓嬶細

1锛夋豢瓒充娇鐐篐urwitz鐭╅櫍锛岄伕鍙�锛�

2锛夐伕鍙�锛�鏍规摎(j霉)锛屼繚璀塒灏嶇ū锛屼笖浣垮緱鐐篐urwitz鐭╅櫍銆�

3锛夋牴鎿�(j霉)锛屾眰鍑�锛屼笖淇濊瓑鍏跺皪绋�锛屾瀹�銆�

4锛�姹傚緱锛岄伕鍙�銆�

鍏朵豢鐪熺祼(ji茅)鏋滃鍦�3~6銆�

鍦�3  瀵﹂殯鍊艰垏瑙€娓€�

鍦�4  瀵﹂殯鍊艰垏瑙€娓€�

鍦�5  瀵﹂殯鍊艰垏瑙€娓€�

鍦�6  瀵﹂殯鍊艰垏瑙€娓€�

鐢辫娓櫒鐨勪豢鐪熺祼(ji茅)鏋滆〃鏄�锛岄枊濮嬬殑骞剧鍏�(n猫i)锛岃娓櫒鐨勪及瑷堝€艰垏绯荤当(t菕ng)鐨勫闅涘€煎瓨鍦ㄤ竴瀹氱殑鍋忓樊锛屼絾寰堝揩鐨勬敹鏂備簬瀵﹂殯鍊�锛屼繚璀変簡瑙€娓綁(zhu菐n)鎱�(t脿i)鐨勮宸€愭几鐨勮定杩戜簬闆躲€備繚璀変簡鍏跺緢濂界殑瑙€娓晥鏋�銆�

鍦ㄤ笂闈㈢殑瑙€娓櫒浠跨湡鐨勫熀绀�(ch菙)涓�锛屾垜鍊戦€�(j矛n)琛屽姏浣嶇疆鎺у埗浠跨湡瑷�(sh猫)瀹氬弮鏁�(sh霉)銆傚叾涓�锛屼綅缃帶鍒跺櫒鍙冩暩(sh霉)鐐�

锛岀偤闆剁煩闄�銆傚姏鎺у埗鍣ㄥ弮鏁�(sh霉)

銆�

鍦�7闂�(gu膩n)绡€(ji茅)1瀵﹂殯鍊艰垏鏈熸湜鍊煎湒

8闂�(gu膩n)绡€(ji茅)2瀵﹂殯鍊艰垏鏈熸湜鍊�

鍦�9姗熸鑷傛湯绔姏璺熻工鏁堟灉

閫氶亷浠跨湡鍙互鐪嬪嚭锛岄€氶亷鍩轰簬瑙€娓櫒鐨勬姊拌噦鍔涙帶鍒舵柟娉�锛屽湪闁嬪鏅傚瓨鍦ㄤ竴瀹氱殑瑾ゅ樊锛屼絾缍�(j墨ng)閬庡緢鐭殑鏅傞枔锛屽嵆瀵︾従(xi脿n)浜嗗緢濂界殑鍔涗綅缃窡韫ゆ晥鏋�銆�

7.绲�(ji茅)璜�

鏈枃閲濆皪鍦ㄦ鍣ㄤ汉鐨勫姏鎺у埗鐣�(d膩ng)涓�锛岄渶瑕侀€氶亷娓緱鐨勫闅涢棞(gu膩n)绡€(ji茅)瑙掑害浠ュ強瑙掗€熷害渚嗕綔鐐烘帶鍒跺弮鏁�(sh霉)锛岃€屽闅涙帶鍒剁暥(d膩ng)涓劇娉曢€氶亷鍌虫劅鍣ㄦ簴(zh菙n)纰虹殑娓緱鍏堕棞(gu膩n)绡€(ji茅)瑙掗€熷害鐨勫晱椤岄枊灞曚簡瑷�(sh猫)鎯宠垏鐞嗚珫鐨勭爺绌�銆傛湰鏂囦互SCARA闆欓棞(gu膩n)绡€(ji茅)姗熸鑷傜偤渚嬶紝閫氶亷灏嶆鍣ㄤ汉鍕曞姏妯″瀷鐨勮畩鎻�锛岃ō(sh猫)瑷堝嚭涓€绋熀浜嶹alcott-Zak瑙€娓櫒鏀归€�(j矛n)鍨嬬殑榄婊戞ā瑙€娓櫒渚嗛嚌灏嶇郴绲�(t菕ng)鐨勭媭鎱�(t脿i)璁婇噺瀵﹁瑙€娓紝骞朵笖閫氶亷婊戞ā鍔涗綅娣峰悎鎺у埗鍣�锛屽鐝�(xi脿n)浜嗘鍣ㄤ汉鍔涙帶鍒躲€傞€氶亷浠跨湡绲�(ji茅)鏋滃彲浠ョ湅鍑�锛屾敼閫�(j矛n)鍨嬬殑榄婊戞ā瑙€娓櫒鍏锋湁寰堝ソ鐨勮娓晥鏋�銆備笖鎵€瑷�(sh猫)瑷堢殑鍔涗綅娣峰悎鎺у埗锛屽湪瀵﹂殯鍔涜窡韫ゆ帶鍒剁暥(d膩ng)涓紝琛ㄧ従(xi脿n)鍑鸿壇濂界殑璺熻工鎺у埗鑳藉姏锛屽叿鏈夊緢寮风殑榄鎬с€�

鑷磋瑵锛侀伡瀵х渷绉戞妧鍓�(chu脿ng)鏂伴噸澶у皥闋呴爡鐩�(201302001锛夛紱鍦嬪鑷劧绉戝(xu茅)鍩洪噾(61100159).