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
Krattenthaler, Orsina and Papi provided explicit formulas for the number of ad-nilpotent ideals with fixed class of nilpotence of a Borel subalgebra of a classical Lie algebra. Especially for types A and C they obtain...Krattenthaler, Orsina and Papi provided explicit formulas for the number of ad-nilpotent ideals with fixed class of nilpotence of a Borel subalgebra of a classical Lie algebra. Especially for types A and C they obtained refined results about these ideals with not only fixed class of nilpotence hut also fixed dimension. In this paper, we shall follow their algorithm to determine the enumeration of ad-nilpotent b-ideals with fixed class of nilpotence and dimension for orthogonal Lie algebras, i.e., types B and D.展开更多
In an inner-product space, an invertible vector generates a reflection with respect to a hyperplane, and the Clifford product of several invertible vectors, called a versor in Clifford algebra, generates the compositi...In an inner-product space, an invertible vector generates a reflection with respect to a hyperplane, and the Clifford product of several invertible vectors, called a versor in Clifford algebra, generates the composition of the corresponding reflections, which is an orthogonal transformation. Given a versor in a Clifford algebra, finding another sequence of invertible vectors of strictly shorter length but whose Clifford product still equals the input versor, is called versor compression. Geometrically, versor compression is equivalent to decomposing an orthogonal transformation into a shorter sequence of reflections. This paper proposes a simple algorithm of compressing versors of symbolic form in Clifford algebra. The algorithm is based on computing the intersections of lines with planes in the corresponding Grassmann-Cayley algebra, and is complete in the case of Euclidean or Minkowski inner-product space.展开更多
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.
基金supported by National Natural Science Foundation of China(Grant Nos.11026103,11101151)Fundamental Research Funds for the Central Universities
文摘Krattenthaler, Orsina and Papi provided explicit formulas for the number of ad-nilpotent ideals with fixed class of nilpotence of a Borel subalgebra of a classical Lie algebra. Especially for types A and C they obtained refined results about these ideals with not only fixed class of nilpotence hut also fixed dimension. In this paper, we shall follow their algorithm to determine the enumeration of ad-nilpotent b-ideals with fixed class of nilpotence and dimension for orthogonal Lie algebras, i.e., types B and D.
文摘In an inner-product space, an invertible vector generates a reflection with respect to a hyperplane, and the Clifford product of several invertible vectors, called a versor in Clifford algebra, generates the composition of the corresponding reflections, which is an orthogonal transformation. Given a versor in a Clifford algebra, finding another sequence of invertible vectors of strictly shorter length but whose Clifford product still equals the input versor, is called versor compression. Geometrically, versor compression is equivalent to decomposing an orthogonal transformation into a shorter sequence of reflections. This paper proposes a simple algorithm of compressing versors of symbolic form in Clifford algebra. The algorithm is based on computing the intersections of lines with planes in the corresponding Grassmann-Cayley algebra, and is complete in the case of Euclidean or Minkowski inner-product space.
