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机器人关节空间B样条轨迹优化设计 总被引:4,自引:0,他引:4
在关节空间中对机器人B样条轨迹进行了时间了短优化计算,该优化问题模型包括关节角速度、角加速度、角加加速度及力矩4种约束,给出优计算方法,给出了 经计算方法,给出了PUMA560机器人前三铰B样条轨迹优化算例。 相似文献
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为使机器人轨迹便于分段处理,更好地用于实时控制,本文首次使用Bezier曲线进行机器人轨迹规划;建立了机器人Bezier轨迹时间最短优化模型,该优化模型包括关节角速度、加速度、加速度变化率及力矩4种约束;给出了优化计算方法。为说明本方法,还给出了PUMA560机器人前三铰Bezier轨迹优化算例,并提出时间最优控制模型。 相似文献
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机器人关节空间Bezier曲线轨迹优化设计 总被引:2,自引:0,他引:2
为使机器人轨迹便于分段处理 ,更好地用于实时控制 ,本文首次使用 Bezier曲线进行机器人轨迹规划 ;建立了机器人 Bezier轨迹时间最短优化模型 ,该优化模型包括关节角速度、加速度、加加速度及力矩四种约束 ;给出了优化计算方法。为说明本方法 ,文未给出了PU MA5 6 0机器人前三铰 Bezier轨迹优化算例 相似文献
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针对工业机械臂执行效率以及运动过程中的冲击产生振动、机械磨损的问题,提出了一种机械臂的最优时间-冲击轨迹规划方法,优化机械臂关节运动时间和加加速度(冲击)两个耦合且矛盾的运动性能指标。通过逆运动学可以将机械臂执行的运动轨迹转换为在关节空间中的位置-时间序列,采用5次非均匀B样条函数在关节空间内构造插值曲线,用各阶B样条曲线控制顶点的约束代替机械臂的运动约束,利用NSGA-II(Non-dominated sorting genetic algorithm II,NSGA-II)对目标函数进行优化。仿真结果表明,采用5次非均匀B样条函数插值,对运动时间和冲击进行优化的运动轨迹,提高了机械臂的执行效率,保证了运动过程中产生较小的冲击,使得机械臂的运动控制性能得到了提高。 相似文献
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How to track bacteria 总被引:10,自引:0,他引:10
H C Berg 《The Review of scientific instruments》1971,42(6):868-871
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The thermal buckling of a railroad track in the lateral plane is analyzed with the track modelled as an elastic beam resting on an elastic-plastic foundation representing the ballast. The nonlinearity of the resistance forces exerted by the ballast on the track is accounted for, both in the lateral and axial directions. For a perfectly straight track the critical bifurcation mode is a periodic one and the effect of periodic imperfections on the instability temperature is analyzed numerically. The transition to the localized buckling pattern observed in practice takes place by a bifurcation from the periodic deflection pattern. The transition to this localized mode can occur with only little growth of the periodic deflections. The instability temperatures for some tracks with various nonperiodic initial imperfections are also determined. It is shown that the instability temperature depends on both the magnitude and the form of the initial imperfections. 相似文献
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创立天津罗升之前,陈文德先生在台湾经常受台湾生产力中心和金属加工中心之邀,作为传动控制产品的讲师与企业从业人员分享应用技术. 相似文献
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M. GHERGHEREHCHI S. Y. KIM H. AFARIDEH Y. S. KIM J. S. CHAI 《Journal of microscopy》2015,257(3):179-186
Detection of tracks produced by α particles, protons or nuclear fission fragments in plastic detectors, viz., solid‐state nuclear track detectors, constitutes a very important tool in various areas. It is not easy for humans to count CR‐39 nuclear tracks manually, especially when the track density is very high. An automated computer program called KTTMS2, written in C++ and running with a user friendly interface, has been developed for recognition and parametric measurements of etched tracks in images captured from the surface of solid‐state nuclear track detectors. Well‐known edge detection methods were applied to estimate the precision and accuracy of nuclear track densitometry using the CR‐39 detector. Among the various routine edge detection methods, the Canny method was chosen because it was the most accurate technique. Because accuracy becomes more important as the track density increases, this allows more overlapping tracks to be detected. KTTMS2 (the proposed system) has an efficiency of 95% and can identify the noise as a background track (5%). Experimental results showed that the error percentage was reduced from 7.63% to 3.23% for high‐density tracks when the count was adjusted by the estimated overlapping tracks. 相似文献
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挖掘轨迹是机械式挖掘机挖掘理论研究中的重要内容,铲斗只有沿着合理的挖掘轨迹运动,才可以实现高效和低耗作业.分析了等切削角对数螺旋线轨迹模型的不足,并在此基础上以工作机构的运动关系为出发点,利用机构运动学理论及坐标变换理论,分别以2种途径推导了挖掘轨迹方程.利用MATLAB软件模拟了机械式挖掘机的挖掘轨迹,并用ADAMS软件进行了虚拟样机运动学仿真和验证.仿真结果与轨迹方程的模拟结果一致,验证了轨迹方程的正确性. 相似文献
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本文结合介绍日本YAMATO应用于大型钢铁企业中几种不同类型的轨道衡技术,从一个侧面来反映当今日本冶金工业轨道衡技术发展与应用。 相似文献
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动态轨道衡以其快速高效广泛应用于厂矿企业,目前的计量准确度已无法满足企业对降本增效的要求,利用数据分析的方法量化指标,找出问题所在,以提高动态轨道衡的计量准确度。 相似文献