This article focuses on the problem of how to accurately calculate the joint control torques when the explosion-proof robot performs collision detection without sensors and gives a complete solution.Nonlinear joint fr...This article focuses on the problem of how to accurately calculate the joint control torques when the explosion-proof robot performs collision detection without sensors and gives a complete solution.Nonlinear joint frictions are incorporated into the dynamic model of a robotic manip-ulator to improve calculation accuracy.A genetic algorithm is used to optimise the excitation trajectories to fully stimulate the robot dynamic characteristics.Effective and applicable data filtering and smoothing methods are proposed and the Iteratively Reweighted Least-Squares method based on the error term is applied to identify the robot dynamic parameters.Compared with Ordinary Least-Squares method,the proposed algorithm improves the accuracy of joint control torques estimation.展开更多
裸甲藻的分类鉴定工作是其生理生态学研究和赤潮研究的基础,为进一步完善我国裸甲藻分类体系,并为裸甲藻鉴定提供参考依据,收集了国家海洋局第一海洋研究所近年来在中国近海海域进行浮游植物调查所采集的水样与网样标本,针对裸甲藻目进...裸甲藻的分类鉴定工作是其生理生态学研究和赤潮研究的基础,为进一步完善我国裸甲藻分类体系,并为裸甲藻鉴定提供参考依据,收集了国家海洋局第一海洋研究所近年来在中国近海海域进行浮游植物调查所采集的水样与网样标本,针对裸甲藻目进行鉴定,初步鉴定出裸甲藻25种,其中在我国海域首次记录的有6种。以《中国海洋生物名录》收录的分类体系为基础,参照World Register of Marine Species的最新分类系统,将鉴定的25种裸甲藻分为5个科15个属。展开更多
基金supported by the National Key Research and Development Program:[Grant Number 2018YFB1305700].
文摘This article focuses on the problem of how to accurately calculate the joint control torques when the explosion-proof robot performs collision detection without sensors and gives a complete solution.Nonlinear joint frictions are incorporated into the dynamic model of a robotic manip-ulator to improve calculation accuracy.A genetic algorithm is used to optimise the excitation trajectories to fully stimulate the robot dynamic characteristics.Effective and applicable data filtering and smoothing methods are proposed and the Iteratively Reweighted Least-Squares method based on the error term is applied to identify the robot dynamic parameters.Compared with Ordinary Least-Squares method,the proposed algorithm improves the accuracy of joint control torques estimation.
文摘裸甲藻的分类鉴定工作是其生理生态学研究和赤潮研究的基础,为进一步完善我国裸甲藻分类体系,并为裸甲藻鉴定提供参考依据,收集了国家海洋局第一海洋研究所近年来在中国近海海域进行浮游植物调查所采集的水样与网样标本,针对裸甲藻目进行鉴定,初步鉴定出裸甲藻25种,其中在我国海域首次记录的有6种。以《中国海洋生物名录》收录的分类体系为基础,参照World Register of Marine Species的最新分类系统,将鉴定的25种裸甲藻分为5个科15个属。
