机器人及机器人学中的控制问题

机器人已成为进一步实现制造业、非制造业、军事活动以至家庭服务自动化的重要工具.机器人学则是更综合地研究如何使机器或系统具有“思想、感知或动作功能的一门交叉性新学科”.机器人的发展是波浪式的,经历了多次的曲折.目前工业机器人中除装配机器人外,其他点焊、弧焊、喷漆及搬运机器人,由于应用范围限制,以及工业生产装备更新速度和投资规模的影响,市场日趋饱和.以美国为例.制造商订单1984年达到高峰6046台.至1986年下降至5713台,不过对机器人未来市场大都持乐观态度.但进一步开拓市场.有待于推出适用于各种环境作业的各式各样的机器人.日本东京大学教授认为机器人当前处于又一次高潮的前夜(Nightmare),正是需要大力加强研究开发的时期.我国正在着手建立工业机器人产业,这一情况值得我们注意.本文着重从研究角度来介绍当前机器人及机器人学中的控制问题的现状及主要问题.

机器人手臂弹性动力学分析的高效算法

本文提出一种用于机器人手臂弹性动力学分析的新方法,该方法采用了动力学方程缩减技术,使计算时间大为减少。在此基础上针对关节型机器人结构特点,提出了考虑手臂关节之间的弹性连接的数学模型,使计算精度得到提高,最后给出了一个实例。

水下机械手液压控制系统动力机构参数的分析计算

本文所介绍的水下机械手液压控制系统为一典型的具有变回油压力封闭式系统。文中阐述了此种系统液压动力机构的设计原理及静、动态参数的分析计算方法。对于在变回油压力下,由四通阀控制的非对称油缸的静态特性进行了详细的分析。给出了在不同回油压力下,不同面积比的非对称油缸、阀的负载压降及最大空载流量的变化规律。这对于确定水下机械手的液压动力机构的参数提供了依据。

多关节机器人工作空间的分析与评价方法

本文运用 H-D 变换的基本原理,结合极坐标变换导出了产生n自由度多关节机器人工作空间的递推算法,当给定了机器人的结构尺寸,即可将机器人工作空间在一特定平面内的边界图形用计算机打出并计算出机器人工作空间容积。在本文的另一部分介绍了两种计算机器人工作空间的性能指标,最后用几个机器人的结构参数进行计算和讨论。

着眼于实用化的 SZS 主从伺服机械手

SZS 主从机械手是中国科学院沈阳自动化研究所研究开发的通用型多功能主从机械手。本文概要介绍了该机械手的应用环境,性能特点及提高操作性能的部分方法。

一种并联激光焊接机器人的机构设计与运动学分析

提出了一种3分支5自由度的并联激光焊接机器人,通过3个分支共同作用,使整机具备了5个自由度的空间加工能力.针对激光焊接,通过分析该机器人的结构特性,建立了其正反解运动学模型,通过解析法求解该模型并进行了计算仿真.最后,对机器人进行激光拼焊实验,仿真数据和实验结果表明,本文研究的并联机器人机构适用于实际的高速、高精度激光焊接。

STL格式文件拓扑重建及快速切片算法研究

建立三角面片之间拓扑关系是提高分层切片效率的关键因素之一,提出基于标准模板库set容器的拓扑关系重建算法及快速切片算法,有效地去除了STL文件大量冗余数据,简化了数据的存储,该算法每一个三角面片在每一切平面内只求一次交点,切片完成后可直接得到封闭轮廓环,以减少在切片过程中对三角面片的遍历次数、排序次数及求交点计算量,简化了轮廓环的构造过程,从而有效地提高了算法的效率。

一种四自由度并联机构的标定技术

运动学标定就是对实际几何参数的估计过程,通过标定来减少动平台的位姿误差。本文对并联机构的标定技术进行了介绍,并对一种四自由度并联机构的标定过程以两种标定方法进行了说明,给出了仿真结果。

基于粗糙集-BP神经网络的发动机故障诊断

由于发动机光谱分析监控数据中磨损微粒种类过多,如果将这些微粒信息直接作为神经网络的输入,则存在输入层神经元过多、网络结构复杂等诸多问题。本文将粗糙集引入到发动机故障诊断中来,利用粗糙集在属性约简方面的优势,删除冗余磨损微粒,提取出重要磨损微粒,并将其作为BP神经网络的输入,建立发动机故障诊断模型。该方法降低输入层的神经元个数,简化了网络结构,缩短网络训练时间,并且由于剔除了冗余磨损微粒,减少了由该部分微粒信息不准确而带来的误差,有效提高了故障诊断的精确度。最后通过算例分析验证了相关算法和诊断模型的准确性和有效性。

高可靠性红外车辆分离器设计与应用

本文给出了一种针对公路自动收费系统的车辆分离检测而设计的,利用红外线发射和接收所形成的光幕,完全消除跟车现象,并能将半挂车、全挂车、单车可靠分离的红外车辆分离器。高可靠性红外车辆分离器的设计很好克服了传统红外车辆分离器环境适应性差、故障率高等缺点。本文还介绍了光幕形成的基本原理,并阐述了硬件关键点及实现方法,给出了系统硬件原理图、软件基本设计思想。

基于结构分析地震资料去噪方法研究

With the development of oil and gas exploration, the exploration of the continental oil and gas turns into the exploration of the subtle oil and gas reservoirs from the structural oil and gas reservoirs in China. The reserves of the found subtle oil and gas reservoirs account for more than 60 percent of the in the discovered oil and gas reserves. Exploration of the subtle oil and gas reservoirs is becoming more and more important and can be taken as the main orientation for the increase of the oil and gas reserves. The characteristics of the continental sedimentary facies determine the complexities of the lithological exploration. Most of the continental rift basins in East China have entered exploration stages of medium and high maturity. Although the quality of the seismic data is relatively good, this areas have the characteristics of the thin sand thickness, small faults, small range of the stratum. It requests that the seismic data have high resolution. It is a important task how to improve the signal/noise ratio of the high frequency of seismic data. In West China, there are the complex landforms, the deep embedding the targets of the prospecting, the complex geological constructs, many ruptures, small range of the traps, the low rock properties, many high pressure stratums and difficulties of boring well. Those represent low signal/noise ratio and complex kinds of noise in the seismic records. This needs to develop the method and technique of the noise attenuation in the data acquisition and processing. So that, oil and gas explorations need the high resolution technique of the geophysics in order to solve the implementation of the oil resources strategy for keep oil production and reserves stable in Ease China and developing the crude production and reserves in West China. High signal/noise ratio of seismic data is the basis. It is impossible to realize for the high resolution and high fidelity without the high signal/noise ratio. We play emphasis on many researches based on the structure analysis for improving signal/noise ratio of the complex areas. Several methods are put forward for noise attenuation to truly reflect the geological features. Those can reflect the geological structures, keep the edges of geological construction and improve the identifications of the oil and gas traps. The ideas of emphasize the foundation, give prominence to innovate, and pay attention to application runs through the paper. The dip-scanning method as the center of the scanned point inevitably blurs the edges of geological features, such as fault and fractures. We develop the new dip scanning method in the shap of end with two sides scanning to solve this problem. We bring forward the methods of signal estimation with the coherence, seismic wave characteristc with coherence, the most homogeneous dip-sanning for the noise attenuation using the new dip-scanning method. They can keep the geological characters, suppress the random noise and improve the s/n ratio and resolution. The rutine dip-scanning is in the time-space domain. Anew method of dip-scanning in the frequency-wavenumber domain for the noise attenuation is put forward. It use the quality of distinguishing between different dip events of the reflection in f-k domain. It can reduce the noise and gain the dip information. We describe a methodology for studying and developing filtering methods based on differential equations. It transforms the filtering equations in the frequency domain or the f-k domain into time or time-space domains, and uses a finite-difference algorithm to solve these equations. This method does not require that seismic data be stationary, so their parameters can vary at every temporal and spatial point. That enhances the adaptability of the filter. It is computationally efficient. We put forward a method of matching pursuits for the noise suppression. This method decomposes any signal into a linear expansion of waveforms that are selected from a redundant dictionary of functions. These waveforms are chosen in order to best match the signal structures. It can extract the effective signal from the noisy signal and reduce the noise. We introduce the beamforming filtering method for the noise elimination. Real seismic data processing shows that it is effective in attenuating multiples and internal multiples. The s/n ratio and resolution are improved. The effective signals have the high fidelity. Through calculating in the theoretic model and applying it to the real seismic data processing, it is proved that the methods in this paper can effectively suppress the random noise, eliminate the cohence noise, and improve the resolution of the seismic data. Their practicability is very better. And the effect is very obvious.