搜索结果: 1-15 共查到“工学 Manipulator”相关记录16条 . 查询时间(0.084 秒)
Separation of Comprehensive Geometrical Errors of a 3-DoF Parallel Manipulator Based on Jacobian Matrix and its Sensitivity Analysis with Monte-Carlo Method
parallel kinematic machines (PKMs) limited-degree-of-freedom (limited-DoF) error separation
2011/8/4
Parallel kinematic machines (PKMs) have the advantages of a compact structure, high stiffness, a low moving inertia, and a high load/weight ratio. PKMs have been intensively studied since the 1980s, a...
Dynamic Feedforward Control of a Novel 3-PSP 3-DOF Parallel Manipulator
parallel manipulator dynamic feedforward control
2011/8/4
Parallel manipulators with less than six degrees of freedom (DOF) have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a charac...
Kinematic Calibration and Forecast Error Compensation of a 2-DOF Planar Parallel Manipulator
parallel manipulator kinematic calibration error compensation minimal linear combinations (MLCs)
2011/8/4
This paper presents a method combined step kinematic calibration and linear forecast real-time error compensation in order to enhance the precision of a two degree-of-freedom (DOF) planar parallel man...
Dynamic Feedforward Control of a Novel 3-PSP 3-DOF Parallel Manipulator
parallel manipulator dynamic feedforward control high-speed hybrid machine tool
2011/8/4
Parallel manipulators with less than six degrees of freedom (DOF) have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a charac...
Separation of Comprehensive Geometrical Errors of a 3-DoF Parallel Manipulator Based on Jacobian Matrix and its Sensitivity Analysis with Monte-Carlo Method
parallel kinematic machines (PKMs) limited-degree-of-freedom (limited-DoF)
2011/8/4
Parallel kinematic machines (PKMs) have the advantages of a compact structure, high stiffness, a low moving inertia, and a high load/weight ratio. PKMs have been intensively studied since the 1980s, a...
黄瓜采摘机械臂结构优化与运动分析（Optimization Design and Kinematic Analysis of Cucumber-harvesting-robot Manipulator）
黄瓜 采摘机器人 机械臂 参数优化
2010/12/29
黄瓜采摘机器人在非结构环境中工作时，其机械臂的结构特点与运动精度将直接决定机器人作业范围和采摘成功率。针对黄瓜特定的栽培模式，结合机械臂工作空间及结构长度指标，运用参数优化法，对采摘机械臂构型和结构参数进行了优化设计。建立了机械臂运动D-H模型，实现由关节空间向笛卡尔空间的正逆变换，并确定了机械臂速度雅可比矩阵；应用三次多项式插值法，建立了机械臂关节空间运动规划模型；应用Matlab平台对优化参数...
空间转动型并联机构动力学性能指标分析（Dynamic Performance Indices Analysis of 4-SPS-1-SSpatial Rotation Parallel Manipulator）
并联机构 动力学性能指标 承载力性能
2010/12/28
通过建立冗余驱动4-SPS-1-S型并联机构的速度映射解析方程，求出机构的Jacobian矩阵；引入并定义承载力与驱动性能作为机构的动力学性能评价指标，建立了衡量并联机构承载能力和驱动性能的解析方程，结合具体算例仿真分析了该并联机构的两类动力学性能指标在任务空间的分布规律，对机构进行了动力学性能评价。研究结果表明，该机构的承载力与驱动性能指标在运动过程中呈现出较好的各向同性，在任务空间内具有较好的...
Optimal Task Placement of a Serial Robot Manipulator for Manipulability and Mechanical Power Optimization
Optimal Task Placement Optimal Robot Path Planning Multicriteria Optimization
2013/1/29
Power consumption and accuracy are main aspects to be taken into account in the movement executed by high performance robots. The first aspect is important from the economical point of view, while the...
Optimal Forward Kinematics Modeling of Stewart Manipulator Using Genetic Algorithms
Stewart Forward Kinematics Predicted Squared Error Genetic Algorithm
2010/1/15
In this paper, a new technique for modeling the forward kinematics of a Stewart manipulator is presented based on a predicted squared error cost function. Initially, the inverse kinematics model was i...
A Comparison of Different Control Laws in Trajectory Control for a Revolute-Jointed Manipulator
Adaptive control Robust control Sliding mode control Parameter uncertainty Tracking error
2009/10/12
This study presents a comparison of di erent control laws for the trajectory control of a revolute-jointed manipulator. For this purpose, adaptive, robust and sliding mode control algorithms are appli...
Comparative Study of Some New Hybrid Fuzzy Algorithms for Manipulator Control
Hybrid Fuzzy Algorithms Manipulator Control
2009/9/7
The robot manipulator is a highly complex system, which is multi-input, multi-output, nonlinear, and time variant. Controlling such a system is a tedious and challenging task. In this paper, some new ...
空间转动3-SPS-1-S型并联机构奇异位形研究（Singular Loci Analysis of 3-SPS-1-S Spatial Rotation Parallel Manipulator）
并联机构 奇异位形 运动性能 可操纵度
2010/5/5
奇异性是机构的固有性质，奇异位形分析对并联机构的轨迹规划和控制具有重要的意义。研究一种空间转动三自由度3-SPS-1-S型并联机构的奇异位形，构建了该并联机构的运动学模型，建立了机构位置逆解与速度映射解析方程，并求出了机构Jacobian矩阵；提出该机构奇异位形的判别准则，并引入了可操纵度这一运动性能评价指标进行奇异性分析。分析结果表明，该机构在指定任务空间具有良好的可操纵性与运动性能，但在工作空...
We have been developing an autonomous underwater vehicle (AUV) with a manipulator aiming at underwater operations using AUVs.At first, we describe an underwater manipulator which is designed based on ...
秦山二期装卸料机简介（Brief Introduction on Fuel Manipulator Crane for Qinshan Phase Ⅱ）
新燃料 地址码 压水堆 编码器
2008/11/17
介绍核电秦山二期工程装卸料机的功能、组成、控制、原理其及设计、制造、使用情况。
FLEXIBLE JOINTS ROBOTIC MANIPULATOR CONTROL BY ADAPTIVE GAIN SMOOTH SLIDING OBSERVER-CONTROLLER
sliding adaptive observer-controller nonlinear systems flexible joint robots
2010/1/12
An adaptive gain sliding observer for uncertain parameter nonlinear systems
together with an adaptive gain sliding controller is proposed in this paper. It considered
nonlinear, SISO affine systems,...