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。

Main Progress of Microgravity Sciences and Space Life Sciences Research in China

The progress of the research activities on space material sciences, microgravity ‰uid physics and combustion, space life sciences and biotechnology research, fundamental Physics in China are brie‰y summarized in the present paper. The major space missions and experimental results obtained on board the Chinese recoverable/non-recoverable satellites and the Chinese manned spaceship named ``Shen-Zhou'' are presented summarily. The recent main activities of the ground-based studies in China are introduced in brief.

The fatigue life estimation of notched specimens under random loading

The LY12-cz aluminium alloy sheet specimens with a central hole were tested under constant amplitude loading, Rayleigh narrow band random loading and a typical fighter broad band random loading. The fatigue life was estimated by means of the nominal stress and the Miner's rule. The stress cycles were distinguished by the rainflow count, range count and peak value count, respectively. The comparison between the estimated results and the test results was made. The effects of random loading sequence and small load cycles on fatigue life were also studied.

Main Progress of Microgravity Sciences and Space Life Sciences Research in China

The electron trajectory in a relativistic femtosecond laser pulse

In this report, we start from Lagrange equation and analyze theoretically the electron dynamics in electromagnetic field. By solving the relativistic government equations of electron, the trajectories of an electron in plane laser pulse, focused laser pulse have been given for different initial conditions. The electron trajectory is determined by its initial momentum, the amplitude, spot size and polarization of the laser pulse. The optimum initial momentum of the electron for LSS (laser synchrotron source) is obtained. Linear polarized laser is more advantaged than circular polarized laser for generating harmonic radiation.