摘要：Teaching robotics necessarily involves the study of the kinematic models of robot manipulators. In turn, the kinematics of a robot manipulator can be described by its forward and reverse models. The inverse kinematic model, which provides the status of the joints according to the desired position for the tool of the robot, is typically taught and described in robotics classes through an algebraic way. However, the algebraic representation of this model is often difficult to obtain. Thus, although it is unquestionable the need for the accurate determination of the inverse kinematic model of a robot, the use of ANNs （artificial neural networks） in the design stage can be very attractive, because it allows us to predict the behavior of the robot before the formal development of its model. In this way, this paper presents a relatively quick way to simulate the inverse kinematic model of a robot, thereby allowing the student to have an overview of the model, coming to identify points that should be corrected, or that can be optimized in the structure of a robot.

摘要：鳙(花鲢)在自然环境中分布于中国南部流域至阿穆尔河,是重要的经济性鱼类,具江湖生殖洄游特性。大坝建设阻碍了其洄游产卵繁殖通道,导致自然环境中其繁殖力的下降,需要有效的过鱼设施帮助鳙通过大坝等水流屏障。为了设计高效的鱼道引导鳙通过,本文通过自制密封的鱼类游泳实验装置,研究了鳙幼鱼游泳能力。测定了5个温度(5、10、15、20和25℃)下鳙幼鱼的临界游泳速度。通过测定不同温度下,疲劳前后血清总蛋白(TP)、血糖(GLU)和甘油三酯(TG)含量,评价疲劳运动引起的生理胁迫。结果表明,在试验温度范围内,随着温度的升高,临界游泳速度显著提高(P<0.05)。25℃时临界游泳速度最大,为7.01 BL/s(1.19 m/s)。在疲劳运动后,血清总蛋白、血糖和甘油三酯含量显著升高(P<0.05)。水温低于15℃与高于15℃相比,鳙疲劳运动后血清总蛋白、血糖和甘油三酯含量显著升高。以鳙幼鱼为研究对象,研究了非适宜温度环境和疲劳运动胁迫下鱼类的生理反应。以期为鱼类生理学研究和渔业保护管理等领域提供理论依据,为制定有效的鱼道提供数据参考。