针对冗余机械臂运动规划过程中的避碰问题,提出一种基于深度学习的避碰运动规划方法。首先,建立冗余机械臂的运动学模型,借助Gilbert Johnson Keerthi算法进行碰撞检测,确定机械臂连杆与障碍物之间的安全距离;其次,将避碰运动规划问题...针对冗余机械臂运动规划过程中的避碰问题,提出一种基于深度学习的避碰运动规划方法。首先,建立冗余机械臂的运动学模型,借助Gilbert Johnson Keerthi算法进行碰撞检测,确定机械臂连杆与障碍物之间的安全距离;其次,将避碰运动规划问题转换成多元函数优化问题,以循环神经网络为主体框架,用天牛须搜索机制来防止算法陷入局部最优值和保证解的多样性;最后,在仿真环境下验证文中所提算法的有效性,结果表明:该算法的预测精度比改进人工势场法平均高出10.89%、算法时间节约2.44 s,其可以帮助冗余机械臂规划一条平滑、柔顺、无碰撞的运动轨迹,具有一定的工程参考价值。展开更多
5-O-Benzoyl- 1,2-O-isopropylidene- α-D-erythro-ketofuranose-3-ulose-3-aminothiose 3 was synthesized and characterized by spectral analysis, and its crystal structure was determined by X-ray diffraction analysis. The ...5-O-Benzoyl- 1,2-O-isopropylidene- α-D-erythro-ketofuranose-3-ulose-3-aminothiose 3 was synthesized and characterized by spectral analysis, and its crystal structure was determined by X-ray diffraction analysis. The crystal belongs to orthorhombic, space group P212121 with a=6.6276(13), b=10.993(2), c=25.027(5)(A), β=90°, V=1823.4(6)(A)3, Z=4, C16H20N3O5S, Mr=366.41, Dc=1.335 g/cm^3,μ=0.208 mm^-1, F(000)=772, S=1.007, the final R=0.0465 and wR=0.1061 for 3251 observed reflections (I 〉 2σ(I)). Four hydrogen bonds are observed. The absolute configuration of this molecule was confirmed by comparing with that of the original material.展开更多
文摘针对冗余机械臂运动规划过程中的避碰问题,提出一种基于深度学习的避碰运动规划方法。首先,建立冗余机械臂的运动学模型,借助Gilbert Johnson Keerthi算法进行碰撞检测,确定机械臂连杆与障碍物之间的安全距离;其次,将避碰运动规划问题转换成多元函数优化问题,以循环神经网络为主体框架,用天牛须搜索机制来防止算法陷入局部最优值和保证解的多样性;最后,在仿真环境下验证文中所提算法的有效性,结果表明:该算法的预测精度比改进人工势场法平均高出10.89%、算法时间节约2.44 s,其可以帮助冗余机械臂规划一条平滑、柔顺、无碰撞的运动轨迹,具有一定的工程参考价值。
基金National Natural Science Foundation of China (No. 20472075)
文摘5-O-Benzoyl- 1,2-O-isopropylidene- α-D-erythro-ketofuranose-3-ulose-3-aminothiose 3 was synthesized and characterized by spectral analysis, and its crystal structure was determined by X-ray diffraction analysis. The crystal belongs to orthorhombic, space group P212121 with a=6.6276(13), b=10.993(2), c=25.027(5)(A), β=90°, V=1823.4(6)(A)3, Z=4, C16H20N3O5S, Mr=366.41, Dc=1.335 g/cm^3,μ=0.208 mm^-1, F(000)=772, S=1.007, the final R=0.0465 and wR=0.1061 for 3251 observed reflections (I 〉 2σ(I)). Four hydrogen bonds are observed. The absolute configuration of this molecule was confirmed by comparing with that of the original material.