The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the t...The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point（TCP） coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented.展开更多
文摘东极黑猪是在我国东北部发现的一种新黑猪群体,试验旨在了解东极黑猪群体结构和遗传多样性,以期更好地保护和利用东极黑猪遗传资源。通过50k SNP芯片研究426头东极黑猪进行遗传多样性、亲缘关系和家系结构,同时加入20头大白猪及20头民猪数据开展主成分分析(Principal component analysis,PCA)。结果表明,东极黑猪57466个SNPs中有47389个SNPs通过质检;PCA结果显示,3个群体分别聚类,东极黑猪与另外两个猪种区分明显;东极黑猪群体中部分个体遗传关系较近,状态同源(Identity by state,IBS)遗传距离为0.0977~0.3589,平均值为0.2752;连续性纯合片段(Runs of homozygosity,ROH)分析发现该群体平均ROH为317.3 Mb,主要分布在200~300 Mb,群体平均近交系数(FROH)为0.133,说明存在近交情况。根据基因组亲缘关系和聚类分析结果,可将东极黑猪群体分为15个家系。综合分析表明,东极黑猪群体遗传多样性丰富,品种独特,但存在近交,建议引入新血统以防遗传多样性丢失。
基金Supported by International S&T Cooperation Program of China(Grant No.2012DFA70260)High-end CNC Machine and Basic Manufacturing Equipment of Chinese Key National Science and Technology(Grant No.2011ZX04014-081)
文摘The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point（TCP） coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented.
