排序方式: 共有14条查询结果,搜索用时 15 毫秒
1.
在摇臂式悬架的基础上,设计了我国火星车主动悬架结构,制定了大沉陷时蠕动脱困和抬轮脱困控制策略,并进行了4次整车蠕动验证试验.试验结果表明:4次蠕动行驶均使得火星车从沉陷中顺利脱困;蠕动行驶时,整车平均功率为13.5?18.94 W,最大功率为24.8?52.4 W;6个驱动电机平均电流和最大电流比正常行驶时均相应增加,平均电流增加了9.7%?74.8%,最大电流增加了9.6%?34.5%.结果表明,主动悬架配合蠕动脱困策略可以解决摇臂式悬架存在的松软地面沉陷风险,提高我国火星车在松软火星表面的通过性. 相似文献
2.
3.
4.
Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipula- tors at present have a series of problems and unable to meet the requirements of the Antarctic expe- dition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and- disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is serious- ly analyzed, and a new hybrid position/force control method is adopted to make the manipulator per- form better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition. 相似文献
5.
袁宝峰 《组合机床与自动化加工技术》2003,(3):66-67
简述PCL-836A定时计数卡的特点,介绍用C语言编程的,定时中断方式产生PWM波形的方法。 相似文献
6.
With dexterous hands, robots can improve the work scope and work ability significantly. As palms of the existing multi-hand robots are made of steel plates that have small contact area, the robots cannot grab firmly. In this study, a new five-fingered dexterous robot hand is developed. Having flexible palm with 17 degree of freedoms ( DOFs), the hand can grasp more stably and firm- ly. First, the forward kinematics and inverse kinematics of the fingers and the hand are calculated. Then, the connection between the force exerting on the end effectors and the torque exerting on the joint is set up, laying the foundation for the following control. Finally, through the analysis and sim- ulation of the position, velocity and acceleration, the trajectory planning has a better performance. 相似文献
7.
在经典Mean Shift跟踪算法框架中,颜色是一种有效的视觉特征。但在实际跟踪过程中,光照、角度、摄像机位置等的变化会极大地削弱颜色特征的有效性,从而造成跟踪的不稳定。本文提出了一种对光照变化具有鲁棒性的Mean Shift人脸跟踪算法。首先,对光照对目标特征域的影响进行建模分析,然后根据分析结果将高斯截断核函数引入到目标概率密度函数中以减小光照变化对目标跟踪的影响,最后将新的目标概率密度函数纳入到Mean Shift跟踪算法框架中。实验仿真结果表明,本文算法在光照剧烈变化的情况下,对人脸的跟踪具有很好的鲁棒性。 相似文献
8.
9.
随着现代测量技术的发展,数据采集仪器的硬件和软件都有了很大的进步。目前比较通用的是安装在工业控制计算机里的采集板卡,一般通过ISA或PCI总线与计算机进行通信。随着笔记本电脑的普及,便携式数据采集系统得到了越来越多的应 相似文献
10.
针对火星车在火星行驶过程中存在的能量消耗过多等问题,提出了一种基于能量约束的路径规划算法.首先,考虑火星车克服重力做功以及驱动机构内部损耗等因素,推导出火星车的运动能量消耗函数,并求解其最小值,构建能量带权图;然后通过迪杰斯特拉算法,计算得到火星车能量带权图的能量消耗最小路径,并使用五次多项式插值拟合的方法实现火星车的行驶轨迹规划;最后,采用Adams软件建立火星典型地形和火星车动力学模型,采用Matlab/Simulink软件搭建火星车控制器模型,对火星车在典型地形中的行驶过程进行动力学与控制联合仿真实验,验证了所提路径规划算法的效果.结果表明,相对于传统的避障路径规划算法,所提算法使火星车能量消耗减少了15%以上,可有效提高火星车的能量利用效率. 相似文献