共查询到20条相似文献,搜索用时 46 毫秒
1.
机器人控制器的现状及展望 总被引:40,自引:4,他引:36
机器人控制器是影响机器人性能的关键部分之一,它从一定程度上影响着机器人的发展。本文介绍了目前机器人控制器的现状,分析了它们各自的优点和不足,探讨了机器人控制器的发展方向和要着重解决的问题。 相似文献
2.
3.
开放式机器人控制器综述 总被引:28,自引:1,他引:27
本文对开放式机器人控制器的研究进行了概括和总结,综合叙述了开放式机器人控制
器的思想及优点,从控制结构、硬件和软件实现的角度总结了已有的研究工作,指出了开放
式机器人控制器的发展方向. 相似文献
4.
基于C/S模型机器人控制器的研究及其应用 总被引:6,自引:1,他引:6
随着网络通信技术的发展和控制系统的革新,如何将网络技术应用到机器人系统,使机器人
达到开放式、分布式的网络控制系统,是目前机器人控制器研究的热点.本文提出了基于C/
S(Client/Server)模型的机器人控制器实现原理,阐述基于Win NT操作系统的RPC(Remot
e Process Call)机制的机器人控制网络客户服务器程序的开发,并实现了软件的DCOM封装
.最后,以实例说明了利用DCOM技术开发的Win NT操作系统下的Win32机器人柔性自动化应
用程序和基于Web的远程机器人监控系统,显示了基于C/S模型的机器人控制器分布式控制网
络的优点. 相似文献
5.
6.
7.
8.
9.
10.
基于遗传算法的双臂机器人模糊力/位混合控制 总被引:1,自引:0,他引:1
近年来,适用于空间站操作的冗余度双臂机器人系统技术研究得到了较多的重视.结合已有的
研究基础和研究条件,本文开展了面向空间舱内作业的冗余度双臂机器人协调控制应用研究.针对双臂机器
人协调操作过程中的受力问题,提出了一种基于遗传算法的双臂机器人模糊力/位混合控制策略.该方法把机
器人末端的力误差通过模糊控制转变为机器人位置控制器的修正值,在不改变机器人原有位置控制器的前提
下,实现力/位混合控制.利用遗传算法离线优化模糊控制规则,为了提高遗传算法的性能,总体交叉概率和
变异概率都采用了自适应控制策略.最后,以冗余度双臂机器人合力协调搬箱为例,进行了力跟踪的三维仿
真和实验,验证了所提出控制策略的有效性和可靠性. 相似文献
11.
张涛 《计算机测量与控制》2015,23(1):86-89
为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值. 相似文献
12.
In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times. 相似文献
13.
《Information & Management》2016,53(6):787-802
Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice. 相似文献
14.
Distributed real-time simulation is a young technology field but its practice is under increasing demands. In recent years the author and his collaborators have been establishing a new approach called the distributed time-triggered simulation (DTS) scheme which is conceptually simple and easy to use but widely applicable. The concept was initiated in the course of developing a new-generation object-oriented real-time programming scheme called the time-triggered message-triggered object (TMO) programming scheme. Some fundamental issues inherent in distributed real-time simulation that were learned during recent experimental studies are discussed along with some approaches for resolving the issues. An execution engine developed to support both the TMOs engaged in control computation and the TMOs engaged in DTS is also discussed along with its possible extensions that will enable significantly larger-scale DTSs. 相似文献
15.
Zusammenfassung Mit zunehmender Größe der Softwaresysteme verschärfen sich die für die Software-Herstellung typischen Probleme: Beherrschen großer Objektmengen, Erhalten der Systemkonsistenz, Kontrolle der ständigen Änderungseinflüsse und Gewährleisten einer langen Lebensdauer. Die Disziplin Konfigurationsmanagement bildet den methodischen Ansatz, diese Probleme besser zu beherrschen. Software-Konfigurationsmanagement faßt die Herstellung von Softwaresystemen als eine Abfolge von kontrollierten Änderungen an gesicherten Zwischen- und Endergebnissen auf. Dargestellt werden die Objekte und Funktionen des Software-Konfigurationsmanagements sowie die hierfür in großen Software-Projekten benötigten Methoden, Instanzen und Hilfsmittel. 相似文献
16.
《浙江大学学报:C卷英文版》2014,(11)
正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and 相似文献
17.
Zhao-hui WU 《浙江大学学报:C卷英文版》2014,(10)
正Brain-machine interfaces(BMIs)aim at building a direct communication pathway between the brain and an external device,and represent an area of research where significant progress has been made during the past decade.Based on BMIs,mind information can be read out by neural signals to control 相似文献
18.
《浙江大学学报:C卷英文版》2014,(10)
正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate 相似文献
19.
20.
《浙江大学学报:C卷英文版》2014,(8)
正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate 相似文献