By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （...By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （D-H） transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.展开更多
To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are ...To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.展开更多
Matrix principal component analysis （MatPCA）, as an effective feature extraction method, can deal with the matrix pattern and the vector pattern. However, like PCA, MatPCA does not use the class information of sampl...Matrix principal component analysis （MatPCA）, as an effective feature extraction method, can deal with the matrix pattern and the vector pattern. However, like PCA, MatPCA does not use the class information of samples. As a result, the extracted features cannot provide enough useful information for distinguishing pat- tern from one another, and further resulting in degradation of classification performance. To fullly use class in- formation of samples, a novel method, called the fuzzy within-class MatPCA （F-WMatPCA）is proposed. F-WMatPCA utilizes the fuzzy K-nearest neighbor method（FKNN） to fuzzify the class membership degrees of a training sample and then performs fuzzy MatPCA within these patterns having the same class label. Due to more class information is used in feature extraction, F-WMatPCA can intuitively improve the classification perfor- mance. Experimental results in face databases and some benchmark datasets show that F-WMatPCA is effective and competitive than MatPCA. The experimental analysis on face image databases indicates that F-WMatPCA im- proves the recognition accuracy and is more stable and robust in performing classification than the existing method of fuzzy-based F-Fisherfaces.展开更多
基金National Natural Science Foundation of China(No.51275486)the Specialized Research Fund for the Doctoral Program of Higher Education(No.20111420110005)
文摘By selecting any one limb of 3-RSR parallel robot as a research object, the paper establishes a position and orienta- tion relationship matrix between the moving platform and the base by means of Denavit-Hartenberg （D-H） transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between po- sition and orientation error of the platform and the original geometric errors is simplified as a linear explicit function rela- tion. The results provide a basis for further studying error analysis and error compensation.
基金Hexa-Type Elites Peak Program of Jiangsu Province(No.2008144)Qing Lan Project of Jiangsu ProvinceFund for Excellent Young Teachers of Southeast University
文摘To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.
文摘Matrix principal component analysis （MatPCA）, as an effective feature extraction method, can deal with the matrix pattern and the vector pattern. However, like PCA, MatPCA does not use the class information of samples. As a result, the extracted features cannot provide enough useful information for distinguishing pat- tern from one another, and further resulting in degradation of classification performance. To fullly use class in- formation of samples, a novel method, called the fuzzy within-class MatPCA （F-WMatPCA）is proposed. F-WMatPCA utilizes the fuzzy K-nearest neighbor method（FKNN） to fuzzify the class membership degrees of a training sample and then performs fuzzy MatPCA within these patterns having the same class label. Due to more class information is used in feature extraction, F-WMatPCA can intuitively improve the classification perfor- mance. Experimental results in face databases and some benchmark datasets show that F-WMatPCA is effective and competitive than MatPCA. The experimental analysis on face image databases indicates that F-WMatPCA im- proves the recognition accuracy and is more stable and robust in performing classification than the existing method of fuzzy-based F-Fisherfaces.
