27

激光其实已经过去一个多星期了,挂上我的这个后来而的博文,实在是没有时效性可言,好在我也不是什么特别的媒体,需要靠即时的新闻获得眼球,博文记录的是我的随想,那些未经审查的触动。

laser2010

以上照片引用自http://laser.ofweek.com/2010-03/-240002-9050-28422104.html

1268721116555

上面那张ofweek的照片,就是这位仁兄所拍的,当时我还想问他要照片,被婉拒了。

看出来了吧,我的G1效果,实在是与人家的差不只一截,那是只长枪啊。

中国市场依然具有非常强的吸引力,各家激光器厂商,配套商,系统集成商,都纷纷在展馆内亮相。每个人对这个市场,都各不相同,有激进主义的,也有稳步前进的。每个企业的都在以最为积极的姿态,向来往的参观者展示企业内最为完善的激光应用方案。通过“小@谷@哥@哥”的搜索,我们可以看到,有非常多的新闻在报导这一激光展览,具体的可以看这个链接:上海激光展览。
当然,由于各种各样的原因,展馆内的空气,由于某些厂商的实地切割,弄的非常的污浊,切割后的金属粉尘飞扬在空气中。还有一些厂商,更是拿出勇气,实地的出激光在进行切割,具体是谁,我们可以私下里交流,这里就不说了,我也怕被”@河@蟹@“啊。

总的来说,给我的感觉,还是非常不错的。在展览的途中,与不少行内人十交流,这个行业应用的技术与应用前景,纷纷表示对这个行业充满信心,但是要怎么去开发这个市场,还是要仁人见仁了。圈子内有个激光行业国内领头的企业老总,在与他的交流非常愉快,更是受益匪浅。作为一个有激光市场工作几十年的专家,他对这个市场的见解与决断;作为一个企业的领导者,他所表达出来的一种乐观与前瞻性的视角,让我非常的佩服。与这样的人聊天,你会理解更多,因为他们往往简单的让你明白,一件事情并不是那么的复杂,还有他们这样去做的目的,而这样做的时候,会自然的将你也纳进他们前进过程中的重要一员,让你感觉你是一起前进的,会有付出,更有收获。

而作为成长中的我,需要学习的还有很多。

写在一个美好的午后,在百脑汇一个港式茶餐厅里,内的肠粉很地道。:)

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24

工业机器人的应用在国内越来越广泛,大量的精密制造应用,特别是汽车制造行业,3C产业电子行业,以及目前非常热的太阳能行业,工业机器人的应用渐渐的在国内越来越多,而且随着产线的性能应用的提高,将越来越多的使用多机器人协同工作的方式来操作一个工艺流程。

工作机器人的协同工作,主要是由于本身工作空间过大,当前拥有的单台机器人,或者说本身安装空间不允许的时候,来使用的。一般而言,使用多台机器人协同工作,可以非常迅速的提高生产效率,同时也可以减小工作单元的安装公司空间,使得整个单元 紧凑有效。当然,并非所有的工业机器人都适合多台机器人协同工作,一般而言,多台工业机器人协同工作,工业机器人本身都是以轻巧型为主,主要表面在,安装面积小(small footprint),机械手臂本体轻(light arm),当然还要有软件的支持。

staubli

机器人的工作应用,一般都是以一个单元的形式存在的,所以有相应的RWC( Workcell)之说,所以,在有限的工厂环境中安装尽可能性多的机器人工作单元,就可以快速的提高产量,这是一个非常重要的问题。所以,机器人本身的安装公司尺寸,或者我们说footprint的大小,对这个至关重要。

kuka

轻量化,也是协作区工作的重要因素。特别是对于一些需要侧面安装的工作机器人来说,机械手臂本身的重量会非常大的影响机器人工作时的精度和速度 ,因此,类似此的问题,需要选择小而且又轻量化的工业基础机器人.
abb-fanta-20091020-600

本文版权为于仁颇黎@机器人所有,使用时请注明出处.

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08

作为一些用来教育或者个人制作使用的工业机器人,并不需要使用实时的操作系统,所以我们有可以看到有一些直接运行windows XP来控制机械手运动的,也可以实现点对点的运动,也可以实时简单的轨迹运动,当然也有运行基于 的六轴工业机器人了,Alvaro就自己使用EMC(Enhanced Machine Controller)运行在 下制作了一个六轴的教育用工业机器人。一些细节部件如下:

基体: 所有的结构都是由ABS加工而成的
控制器: 运行在 Linux下面的EMC2
驱动器: 两套  Gecko 540s 可以最多同时控制8个轴
建模系统: Solidworks 2009
机器编程软件:Mastercam X3 + Robotmaster



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22

已经成功升級到9.04了,不过好像不有感觉到性能的突破,估計主要是磁盘系統格式仍然是EXT3的原因吧,过段時間有空准备升級一下,看看是否真的有效,不过如果有時間,到是想重新完全安装一下。以下几篇文章,作记录:

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03

这是我对我的工作的一种追求:

我的工作1.0 :

1. 与我兴趣相同类似的工作 ,比如目前来说是一份与机器人相关的工作 .
2. 能不断提升自己的工作 ,不断的有机会学习接触新鲜事物 ,新技术 ,并且有机会亲自去尝试,并且有丰富的培训机会 ,是在工作时内接受培训
3. 有一定的掌控权 .在一定的范围内 ,有自己的决定权 .
4. 劳逸结合的工作 ,长时间的连续工作后 ,有一段时间的休息 ,而且这种休息是没有事务打扰的 .
5.人性化的工作环境,有序的工作方式  .
6.完善的保障机制
7.合理的薪酬标准,所付出的劳动,应该有相应合理的薪资水平

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05

  Compiling custom kernel has its own advantages and disadvantages.
However, new Linux user / admin find it difficult to compile Linux
kernel. Compiling kernel needs to understand few things and then just
type couple of commands. This step by step howto covers compiling Linux
kernel version 2.6.xx under Debian GNU Linux. However, instructions
remains the same for any other distribution except for apt-get command.

Step # 1 Get Latest Linux kernel code

Visit http://kernel.org/ and
download the latest source code. File name would be
linux-x.y.z.tar.bz2, where x.y.z is actual version number. For example
file inux-2.6.25.tar.bz2 represents 2.6.25 kernel version. Use wget
command to download kernel source code:
$ cd /tmp
$ wget http://www.kernel.org/pub/linux/kernel/v2.6/linux-x.y.z.tar.bz2

Note: Replace x.y.z with actual version number.

Step # 2 Extract tar (.tar.bz3) file

Type the following command:
# tar -xjvf linux-2.6.25.tar.bz2 -C /usr/src
# cd /usr/src

Step # 3 Configure kernel

Before you configure kernel make sure you have development tools
(gcc compilers and related tools) are installed on your system. If gcc
compiler and tools are not installed then use apt-get command under
Debian Linux to install development tools.
# apt-get install gcc

Now you can start kernel configuration by typing any one of the command:

  • $ make menuconfig - Text based color menus, radiolists &
    dialogs. This option also useful on remote server if you wanna compile
    kernel remotely.
  • $ make xconfig - X windows (Qt) based configuration tool, works best under KDE desktop
  • $ make gconfig - X windows (Gtk) based configuration tool, works best under Gnome Dekstop.

For example make menuconfig command launches following screen:
$ make menuconfig

You have to select different options as per your need. Each
configuration option has HELP button associated with it so select help
button to get help.

Step # 4 Compile kernel

Start compiling to create a compressed kernel image, enter:
$ make
Start compiling to kernel modules:
$ make modules

Install kernel modules (become a root user, use su command):
$ su -
# make modules_install

Step # 5 Install kernel

So far we have compiled kernel and installed kernel modules. It is time to install kernel itself.
# make install

It will install three files into /boot directory as well as modification to your kernel grub configuration file:

  • System.map-2.6.25
  • config-2.6.25
  • vmlinuz-2.6.25

Step # 6: Create an initrd image

Type the following command at a shell prompt:
# cd /boot
# mkinitrd -o initrd.img-2.6.25 2.6.25

initrd images contains device driver which needed to load rest of
the operating system later on. Not all computer requires initrd, but it
is safe to create one.

Step # 7 Modify Grub configuration file - /boot/grub/menu.lst

Open file using vi:
# vi /boot/grub/menu.lst

title Debian GNU/Linux, kernel 2.6.25 Default
root (hd0,0)
kernel /boot/vmlinuz root=/dev/hdb1 ro
initrd /boot/initrd.img-2.6.25
savedefault
boot

Remember to setup correct root=/dev/hdXX device. Save and close the
file. If you think editing and writing all lines by hand is too much
for you, try out update-grub command to update the lines for each
kernel in /boot/grub/menu.lst file. Just type the command:
# update-grub
Neat. Huh?

Step # 8 : Reboot computer and boot into your new kernel

Just issue reboot command:
# reboot
For more information see:

  • Our Exploring Linux kernel article and Compiling Linux Kernel module only.
  • Official README file has more information on kernel and software
    requirement to compile it. This file is kernel source directory tree.
  • Documentation/ directory has interesting kernel documentation for you in kernel source tree.

Original source:http://www.cyberciti.biz/tips/compiling-linux-kernel-26.html

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23

  牛年已经在眼前,祝各位朋友牛年大吉,子去丑来腾锦銹,金牛奋地涌春潮。

PS:前几天给国外的同事发了祝福,收到了一个美好的回复祝福,同时也加了一句,what is ox?wiki了一下,发了给他,也留下来自己记录。

what is ox year?

来源:http://en.wikipedia.org/wiki/Ox_(zodiac)

The Ox ( ) is one of the 12-year cycle of animals which appear in the Chinese zodiac related to the Chinese calendar. The Year of the Ox is denoted by the earthly branch character .

The Ox is the sign of prosperity through fortitude and hard .
This powerful sign is a born leader, being quite dependable and
possessing an innate ability to achieve great things. As one might
guess, such people are dependable, calm, and modest. Like their animal
namesake, the Ox is unswervingly patient, tireless in their , and
capable of enduring any amount of hardship without complaint.

Ox people need peace and quiet to through their ideas, and when
they have set their mind on something it is hard for them to be
convinced otherwise. An Ox person has a very logical mind and is
extremely systematic in whatever they do, even without imagination.
These people speak little but are extremely intelligent. When
necessary, they are articulate and eloquent.

People born under the influence of the Ox are kind, caring souls,
logical, positive, filled with common sense and with their feet firmly
planted on the ground. Security is their main preoccupation in life,
and they are prepared to toil long and hard in order to provide a warm,
comfortable and stable nest for themselves and their families.
Strong-minded, stubborn, individualistic, the majority are highly
intelligent individuals who don’t take kindly to being told what to do.

The Ox works hard, patiently, and methodically, with original
intelligence and reflective thought. These people enjoy helping others.
Behind this tenacious, laboring, and self-sacrificing exterior lies an
active mind.

The Ox is not extravagant, and the thought of living off credit
cards or being in debt makes them nervous. The possibility of taking a
serious risk could cause the Ox sleepless nights.

Ox people are truthful and sincere, and the idea of wheeling and
dealing in a competitive world is distasteful to them. They are rarely
driven by the prospect of financial gain. These people are always
welcome because of their honesty and patience. They have many friends,
who appreciate the fact that the Ox people are wary of new trends,
although every now and then they can be encouraged to try something new.

It is important to remember that the Ox people are sociable and
relaxed when they feel secure, but occasionally a dark cloud looms over
such people and they engage all the trials of the whole world and seek
solutions for them.Also the Ox people are all caring and loving but at
times when you mess with them they will tear out in anger.

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