针对传统快速探索随机树(Rapidly Exploring Random Tree,RRT)路径规划算法在新枝点扩展上缺乏目标性和时间复杂度高的问题,以具有偏置构型的7自由度冗余机器人Rethink Sawyer为研究对象,利用引力势函数,对新枝点的扩展进行调节,提出了...针对传统快速探索随机树(Rapidly Exploring Random Tree,RRT)路径规划算法在新枝点扩展上缺乏目标性和时间复杂度高的问题,以具有偏置构型的7自由度冗余机器人Rethink Sawyer为研究对象,利用引力势函数,对新枝点的扩展进行调节,提出了具有导向性的变步长双向RRT扩展算法完成协作机器人运动规划。采用阻尼最小二乘Newton-Raphson方法对Sawyer机器人逆运动学进行数值求解。通过机械臂运动学模型和运动规划算法仿真、ROS平台的运动规划实验,验证了改进RRT算法进行路径规划的正确性,在操作过程中有效地避免了与约束框架碰撞,降低了机械臂运动规划的时间复杂度。展开更多
A novel waterproof electronic sphygmomanometer is presented in this paper, the special design of sealing structure is used in this sphygmomanometer that allows the system to function normally in water. The system also...A novel waterproof electronic sphygmomanometer is presented in this paper, the special design of sealing structure is used in this sphygmomanometer that allows the system to function normally in water. The system also adopts the rigid air cylinder as air source to ensure accurate detection and chooses the MP3VS050 piezoresistive transducer to ensure the measurement precision of the systolic and diastolic pressure. TI＇s MSP430FC,437 is used as the central processor so that the system can be of advantages of low-power, fast digital processing and high-reliability. The sphygmomanometer was validated by three groups of participants. The experimental data indicates that the measured values of this waterproof electronic sphygmomanometer are consistent with the results of common electric sphygmomanometer, the measure error is less than 5 mmHg, and the system is stable and credible. So the waterproof electronic sphygmomanometer can realize real-time monitoring of blood pressure and heart rate in the water and other special environment.展开更多
文摘针对传统快速探索随机树(Rapidly Exploring Random Tree,RRT)路径规划算法在新枝点扩展上缺乏目标性和时间复杂度高的问题,以具有偏置构型的7自由度冗余机器人Rethink Sawyer为研究对象,利用引力势函数,对新枝点的扩展进行调节,提出了具有导向性的变步长双向RRT扩展算法完成协作机器人运动规划。采用阻尼最小二乘Newton-Raphson方法对Sawyer机器人逆运动学进行数值求解。通过机械臂运动学模型和运动规划算法仿真、ROS平台的运动规划实验,验证了改进RRT算法进行路径规划的正确性,在操作过程中有效地避免了与约束框架碰撞,降低了机械臂运动规划的时间复杂度。
文摘A novel waterproof electronic sphygmomanometer is presented in this paper, the special design of sealing structure is used in this sphygmomanometer that allows the system to function normally in water. The system also adopts the rigid air cylinder as air source to ensure accurate detection and chooses the MP3VS050 piezoresistive transducer to ensure the measurement precision of the systolic and diastolic pressure. TI＇s MSP430FC,437 is used as the central processor so that the system can be of advantages of low-power, fast digital processing and high-reliability. The sphygmomanometer was validated by three groups of participants. The experimental data indicates that the measured values of this waterproof electronic sphygmomanometer are consistent with the results of common electric sphygmomanometer, the measure error is less than 5 mmHg, and the system is stable and credible. So the waterproof electronic sphygmomanometer can realize real-time monitoring of blood pressure and heart rate in the water and other special environment.
