共查询到20条相似文献，搜索用时 437 毫秒
1.
ZHAO Yong-jie 《重庆大学学报(英文版)》2011,10(2):60-67
The paper presents a new solution of inverse displacement analysis of the general six degree-of-freedom serial robot. The inverse displacement analysis of the general serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least squares problem with the analytic form of new Jacobian matrix. In this way, joint variables of the general serial robot can be searched out quickly under the desired precision when positions of the three non-collinear end effector points are given. Compared with the general Newton iterative method, the proposed algorithm can search out the solution when the robot is at the singular configuration and the initial configuration used in the optimization method may also be the singular configuration. So the convergence domain is bigger than that of the general Newton iterative method. Another advantage of the proposed algorithm is that positions of the three non-collinear end effector points are usually much easier to be measured than the orientation of the end effector. The inverse displacement analysis of the general 6R (six-revolute-joint) serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm. Because the three non-collinear points can be selected at random, the method can be applied to any other types of serial robots. 相似文献
2.
This paper presents a disturbance rejection scheme for walking robots under unknown external forces and moments. The disturbance rejection strategy, which combines the inverse dynamics control with the acceleration projection onto the ZMP （zero moment point）-plane, can ensure the overall dynamic stability of the robot during tracking the pre-computed trajectories. Under normal conditions, i.e., the system is dynamically balanced, a primary inverse dynamics control is utilized. In the case that the system becomes unbalanced due to external disturbances, the acceleration projection control （APC） loop, will be activated to keep the dynamic stability of the walking robot through modifying the input torques. The preliminary experimental results on a robot leg demonstrate that the proposed method can actually make the robot keep a stable motion under unknown external perturbations. 相似文献
3.
Traditional studies on integrated statistical process control and engineering process control (SPC-EPC) are based on linear autoregressive integrated moving average (ARIMA) time series models to describe the dynamic noise of the system.However,linear models sometimes are unable to model complex nonlinear autocorrelation.To solve this problem,this paper presents an integrated SPC-EPC method based on smooth transition autoregressive (STAR) time series model,and builds a minimum mean squared error (MMSE) controller as well as an integrated SPC-EPC control system.The performance of this method for checking the trend and sustained shift is analyzed.The simulation results indicate that this integrated SPC-EPC control method based on STAR model is effective in controlling complex nonlinear systems. 相似文献
4.
The methodology of visual simulation for a tunnel engineering construction schedule is presented. Visualization of simulation model, calculation and result of construction schedule simulation is realized, and the construction simulation and the resource optimization of tunnel engineering are made. A risk analysis and a decision-making method of tunnel engineering construction schedule based on visual simulation are presented. Furthermore, using S curve theory and schedule management method, the real-time management and control method of tunnel engineering construction based on visual simulation is presented. The application to the tunnel engineering construction schedule analysis and management shows the feasibility and effectiveness of the method presented in this paper. 相似文献
5.
The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction. 相似文献
6.
Riveting is one of the major joining methods used in assembly, and the robotic riveting has been grad- ually introduced into aircraft industry. In this paper, a method is presented for modeling and simulation of per- cussive robotic riveting. In percussive riveting, vibration always exists. When an impact force is employed, a forced vibration will be induced. If it resonates with a robot nat- ural frequency, the vibration will cause damage to the robot. The main content of this paper is divided into three parts. Firstly, a robot dynamic model is established to compute the driving torque for each joint. Secondly, vibration responses under impact are analyzed for the percussive riveting process. Thirdly, the effect of riveting on robot vibration is studied over the robot workspace. The purpose of this paper is to discuss the suitable regions for riveting where the robot vibration is very minimal. It is shown that based on the presented method an appropriate trajectory can be planned for robotic riveting. 相似文献
7.
Xing-guang Duan Gui-bin Bian Hong-hua Zhao Xing-tao Wang Qiang Huang 《浙江大学学报(A卷英文版)》2010,11(4):263-269
Hepatocellular carcinoma （HCC） is the second most common malignancy in China. As microwave ablation （MWA） is an effective method for liver cancer, a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the needles. This robotic system includes a surgical robot with 5 degrees of freedom, a workstation for path-planning and image processing, a conventional 2D ultrasound device, and an electromagnetic （EM） tracking system. Surgery space, clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a medical robot suitable for use by surgeons. Based on the mechanics of the needle placement robot, we have conducted detailed kinematic analysis, including a combined numerical algorithm and coordinate mapping. Finally, the feasibility of the needle placement robot has been validated by experiment. 相似文献
8.
A dynamic velocity feed-forward compensation control (DVFCC) approach with RBF neural network (RBF-NN) dynamic model identification was presented for the adaptive trajectory tracking of industrial robots.The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model.The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accuracy.The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can convert torque signal into velocity in the standard industrial controller.Then,the need for a torque control interface was avoided in the real-time dynamic control of industrial robot.The simulations and experiments were carried out on a gas cutting manipulator.The results show that the proposed control approach can reduce steady-state error,suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space,especially under highspeed condition. 相似文献
9.
Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex.Based on the translating cam principle,a novel palletizing robot is designed.The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down spindles.To improve palletizing efficiency,the single palletizing mechanical arm is changed into multi-arm.Moreover,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method.According to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is made.The simulation results show that the novel mechanism and optimization parameters are rational and feasible.This novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system.At the same time,it can increase palletizing efficiency further by adding mechanical arms. 相似文献
10.
XIA Xu 《重庆大学学报(英文版)》2014,13(2):54-61
The background and purpose, and the current situation of the cost control theory of real estate development project are disscussed in the paper. Problems of cost control for real estate development projects in China are analyzed and summarized. According to the real estate development project cost control problems and related factors, a cost control index system of real estate development enterprise, and a cost control factors index system of real estate projects are constructed respectively. Cost control in the five stages of a real estate development project is introduced and summarized respectively. The five stages include： the investment decision-making, planning and design stage, the bidding phase, project implementation stage, and rental or sale. 相似文献
11.
针对模型未知的机器人系统提出了一种新的控制策略,即将H∞控制理论与径向基函数神经网络(RBFNN)有机地结合起来,并把建模误差及外部干扰衰减到期望的程度下。文中基于Lyapunov方法给出了RBFNN学习自适应率和H∞跟踪特性的证明,并通过对两自由度机器人的仿真结果表明了所提出的控制方法的可行性。 相似文献
12.
陈丽 《邢台职业技术学院学报》2003,20(5):54-57
本提出了一种新颖的鲁棒自适应分散控制策略，用于不确定性机器人的轨迹跟踪，该控制器结构非常简单，由PD 非线性反馈构成，仅需要了解各关节输出的位置及速度状态，避免了对加速度的测量，有效的克服了通常难于建模的摩擦力和外部扰动的影响，最后保证全局渐近稳定．二连杆机器人的仿真研究证明了该策略的有效性． 相似文献
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14.
基于拉格朗日函数法建立了机器人的动力模型,并基于滑模控制方法设计了机器人的鲁棒控制器,实现了机器人的平衡、转向和行走等控制任务。滑模控制器是一种鲁棒控制方法,当进入滑模态后,控制能够保证机器人在外力干扰和参数变化等情况下依旧保持控制性能。通过MATLAB和ADAMS联合仿真环境,控制器的控制效果得到了验证,证明了所设计的控制方法是可行的,能够达到所要求的控制性能。 相似文献
15.
介绍一种基于网络远程控制的检测机器人系统取代人工检测方式完成焊缝检测,该系统由检测机器人与控制系统两部分组成。机器人的设计原理,特别是机器人的固定支座设计具有创新性,可在直径变化范围为椎100mm—椎400mm的管道上安装和保证合适的夹紧,实现精确的自动定心;采用剖分式结构能快速定位安装和连接。采用分布式控制方式保证了机器人关节间运动的同步性,避免机器人各关节在运动过程中不同步造成的运动不协调。 相似文献
16.
为解决移动机器人远程控制终端不便捷问题,提出基于4G网络的移动机器人远程控制监控系统,使用Android手机客户端通过4G网络进行远程视频监控|以TCP与UDP协同作用的方式对控制命令和图像信息进行远程传输。实验证明,Android智能手机终端可实时进行视频监控,并远程控制移动机器人运行状态。远程控制更加便捷,应用范围更广。 相似文献
17.
在人与机器人协调的过程中,控制系统不仅要考虑运动轨迹的位置精度,还要考虑人和机器人与环境接触的灵活性和平滑性。针对柔性多关节机器人动力学前馈的方法进行了研究,使得机器人可以快速、准确地移动到指定位置,控制精度高。提出了一种阻抗控制算法,通过调节机器人末端的阻抗来实现机器人的柔顺控制。依靠动力学的控制策略可以通过调整目标阻抗参数使机器人适应环境。通过对算法的有效性进行仿真验证,该算法可以改善大多数柔性串联机器人的运动控制问题,并且不涉及降低性能以适应操作和控制。 相似文献
18.
张德伟 《实验室研究与探索》2011,30(12):71-74
OOPic是近年内出现的基于面向对象的新型软件开发系统,本研究的机器人避障问题就是基于OOPic系统下的编程,通过机器人3种方式的运动控制来研究机器人的避障问题.从机器人的实际运行效果和可靠性来看,该软件编程方法还是行之有效的. 相似文献
19.
A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical use. This paper presents an adaptive proportional integral differential (PID) control algorithm based on radial basis function (RBF) neural network for trajectory tracking of a two-degree-of-freedom (2-DOF) closed-chain robot. In this scheme, an RBF neural network is used to approximate the unknown nonlinear dynamics of the robot, at the same time, the PID parameters can be adjusted online and the high precision can be obtained. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories. The results also indicate that the system robustness and tracking performance are superior to the classic PID method. 相似文献
20.
基于虚拟现实技术开发软件对反恐排爆机器人虚拟实验系统进行功能开发,该系统应用于反恐排爆机器人教学,建立D-H机械臂坐标系,实现反恐排爆机器人结构认知、装配操作、工作空间、关节运动控制,实现人机交互,利用D-H参数法建立反恐排爆机器人运动学模型,进行了正、逆运动学求解及轨迹规划。系统有着较好的沉浸性与交互性,能够完成反恐排爆机器人的虚拟实践教学。 相似文献