基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算...基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算法进行避障达点运动的数值仿真和实物样机试验。提出一种新的bi-RRT算法,结合末端姿态调整和关节自运动来生成目标树。并利用7R机械臂的解析逆解,生成目标位形。传统的bi-RRT算法只给定了一个目标位形,而新算法中目标点树根是由一群目标位形组成。在给定的障碍物环境中,机器人自动选择某一合适的位形作为目标节点来引导搜索树最有效地生长。通过数值仿真,验证该方法的优越性。利用Matlab和C++的混合编程和OpenGL开发了7R机械臂避障达点运动规划仿真软件。利用该软件,对基于bi-RRT的7R机械臂避障达点运动规划进行虚拟样机的试验研究。展开更多
field attraction test of (7R,8S)-cis-7,8-epoxy-2- methyloctadec-17-ene (= 7R,8S-epo-2me-17ene-18Hy), a trace component of the sex pheromone gland of the Asian gypsy moth,(Lymantria dispar), traps that were baited with...field attraction test of (7R,8S)-cis-7,8-epoxy-2- methyloctadec-17-ene (= 7R,8S-epo-2me-17ene-18Hy), a trace component of the sex pheromone gland of the Asian gypsy moth,(Lymantria dispar), traps that were baited with the trace component attracted more L. dispar than traps baited with (7S,8R)-cis-7,8-epoxy-2-methyloctadec-17-ene (= 7S,8R-epo-2me-17ene-18Hy) and unbaited traps. However, traps baited with 7R,8S-epo-2me-17ene-18Hy were less attractive than traps baited with (+)-disparlure [=(7R,8S)-cis-7,8-epoxy-2-methyloctadecane], the sex pheromone of L. dispar. Combination tests with (?)-disparlure, 7R,8S-epo-2me-17ene-18Hy, and 7S,8R-epo-2me- 17ene-18Hy revealed that 7R,8S-epo-2me-17ene-18Hy acted synergistically with (?)-disparlure.展开更多
文摘基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算法进行避障达点运动的数值仿真和实物样机试验。提出一种新的bi-RRT算法,结合末端姿态调整和关节自运动来生成目标树。并利用7R机械臂的解析逆解,生成目标位形。传统的bi-RRT算法只给定了一个目标位形,而新算法中目标点树根是由一群目标位形组成。在给定的障碍物环境中,机器人自动选择某一合适的位形作为目标节点来引导搜索树最有效地生长。通过数值仿真,验证该方法的优越性。利用Matlab和C++的混合编程和OpenGL开发了7R机械臂避障达点运动规划仿真软件。利用该软件,对基于bi-RRT的7R机械臂避障达点运动规划进行虚拟样机的试验研究。
基金support of the "Cooperative Research Program for Agriculture Science and Technology Development(Project No.PJ01175601)" Rural Development Administration,Republic of Korea
文摘field attraction test of (7R,8S)-cis-7,8-epoxy-2- methyloctadec-17-ene (= 7R,8S-epo-2me-17ene-18Hy), a trace component of the sex pheromone gland of the Asian gypsy moth,(Lymantria dispar), traps that were baited with the trace component attracted more L. dispar than traps baited with (7S,8R)-cis-7,8-epoxy-2-methyloctadec-17-ene (= 7S,8R-epo-2me-17ene-18Hy) and unbaited traps. However, traps baited with 7R,8S-epo-2me-17ene-18Hy were less attractive than traps baited with (+)-disparlure [=(7R,8S)-cis-7,8-epoxy-2-methyloctadecane], the sex pheromone of L. dispar. Combination tests with (?)-disparlure, 7R,8S-epo-2me-17ene-18Hy, and 7S,8R-epo-2me- 17ene-18Hy revealed that 7R,8S-epo-2me-17ene-18Hy acted synergistically with (?)-disparlure.