A NOVEL DESIGN OF LIGHT-TRANSPARENT GOLD-MINIGRID THIN-LAYER FTIR SPECTROELECTROCHEMICAL CELL WITH VERTICAL CONFIGURATION

A Teflon bridge/edge-eliminator is designed to connect a glass container and a light-transparent gold-minigrid NaCl thin-layer cell to form a vertically configured in-situ FTIR spectroelectrochemical cell. The bridge/edge-eliminator sets an internal reference point for accurate potential control. The size of the thin-layer chamber is 5 X 5 X 0.11mm. A 1900-omega formal resistance of the thin-layer cell was measured in CH2Cl2/0.1 M TBAP solution. Well defined thin-layer cyclic voltammograms and IR spectral changes for ferrocene oxidation were obtained.

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。