针对机械臂轨迹规划算法复杂且运动过程中易产生冲击的问题,利用开源平台机器人操作系统ROS,提出一种在该平台下的轨迹规划方法。本课题以埃夫特六自由度(Degrees of freedom,DOF)机械臂为实验对象,在SolidWorks中建立机器人模型并对其...针对机械臂轨迹规划算法复杂且运动过程中易产生冲击的问题,利用开源平台机器人操作系统ROS,提出一种在该平台下的轨迹规划方法。本课题以埃夫特六自由度(Degrees of freedom,DOF)机械臂为实验对象,在SolidWorks中建立机器人模型并对其进行正逆运动学分析;利用sw2urdf插件导出ROS识别的URDF模型文件;通过MoveIt!功能包创建机械臂轨迹规划需要的配置和启动文件,在Rviz中显示三维模型;利用MoveIt!提供的C++相关API,在该平台上对六自由度机械臂进行笛卡尔空间的直线、圆弧、NURBS曲线轨迹规划。通过分析其各关节运动信息,验证了轨迹规划的合理性。展开更多
A PES-PC (polyethersulfone-polycarbonate) multi block random copolymer was synthesized with two oligomers, polyethersulfone and polycarbonate. The effects of the copolymer, as a compatibilizer, on the morphology and...A PES-PC (polyethersulfone-polycarbonate) multi block random copolymer was synthesized with two oligomers, polyethersulfone and polycarbonate. The effects of the copolymer, as a compatibilizer, on the morphology and compatibility of the PES-PC blends were investigated. It was found that the addition of this copolymer to the PES-PC blends could improve their compatibility.展开更多
基金Supported by the Hundred Talents Program of the Chinese Academy of Sciences,the National Natural Science Foundation Projects(51806231)the Strategic Priority Research Program of Chinese Academy of Sciences(XDB35000000,XDB35040102)。
文摘针对机械臂轨迹规划算法复杂且运动过程中易产生冲击的问题,利用开源平台机器人操作系统ROS,提出一种在该平台下的轨迹规划方法。本课题以埃夫特六自由度(Degrees of freedom,DOF)机械臂为实验对象,在SolidWorks中建立机器人模型并对其进行正逆运动学分析;利用sw2urdf插件导出ROS识别的URDF模型文件;通过MoveIt!功能包创建机械臂轨迹规划需要的配置和启动文件,在Rviz中显示三维模型;利用MoveIt!提供的C++相关API,在该平台上对六自由度机械臂进行笛卡尔空间的直线、圆弧、NURBS曲线轨迹规划。通过分析其各关节运动信息,验证了轨迹规划的合理性。
基金Supported by the National Natural Science Foundation of China(No.50203004).
文摘A PES-PC (polyethersulfone-polycarbonate) multi block random copolymer was synthesized with two oligomers, polyethersulfone and polycarbonate. The effects of the copolymer, as a compatibilizer, on the morphology and compatibility of the PES-PC blends were investigated. It was found that the addition of this copolymer to the PES-PC blends could improve their compatibility.