Aimed at the real-time forward kinematics solving problem of Stewart parallel manipulator in the control course, a mixed algorithm combining immune evolutionary algorithm and numerical iterative scheme is proposed. Fi...Aimed at the real-time forward kinematics solving problem of Stewart parallel manipulator in the control course, a mixed algorithm combining immune evolutionary algorithm and numerical iterative scheme is proposed. Firstly taking advantage of simpleness of inverse kinematics, the forward kinematics is transformed to an optimal problem. Immune evolutionary algorithm is employed to find approximate solution of this optimal problem in manipulator＇s workspace. Then using above solution as iterative initialization, a speedy numerical iterative scheme is proposed to get more precise solution. In the manipulator running course, the iteration initialization can be selected as the last period position and orientation. Because the initialization is closed to correct solution, solving precision is high and speed is rapid enough to satisfy real-time requirement. This mixed forward kinematics algorithm is applied to real Stewart parallel manipulator in the real-time control course. The examination result shows that the algorithm is very efficient and practical.展开更多
针对当前推土机在作业过程中操作复杂、施工效果评估困难等问题,基于北斗实时动态差分定位(real time kinematic,RTK)技术和运动学方程,求得推土机实时位置;提出了以推土高程和设计平面的高程差作为平整施工质量评价的方法,可直观评价...针对当前推土机在作业过程中操作复杂、施工效果评估困难等问题,基于北斗实时动态差分定位(real time kinematic,RTK)技术和运动学方程,求得推土机实时位置;提出了以推土高程和设计平面的高程差作为平整施工质量评价的方法,可直观评价施工效果,研制了驾驶引导装置,可实时显示推土机状态与施工进度。工程应用表明,该装置达到了厘米级的定位精度,定位的绝对误差小于5 cm,满足推土机精准施工的需求;车载显示终端使用RS232通信可精确获取推土机坐标、速度、航向等自身状态参数和施工数据。在实际施工场景中,该系统可有效减少驾驶员返工次数、降低劳动强度,提高了施工效率,达到了辅助施工的目的。展开更多
Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembl...Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.展开更多
In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) p...In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.展开更多
Solving quaternion kinematical differential equations(QKDE) is one of the most significant problems in the automation, navigation, aerospace and aeronautics literatures. Most existing approaches for this problem neith...Solving quaternion kinematical differential equations(QKDE) is one of the most significant problems in the automation, navigation, aerospace and aeronautics literatures. Most existing approaches for this problem neither preserve the norm of quaternions nor avoid errors accumulated in the sense of long term time. We present explicit symplectic geometric algorithms to deal with the quaternion kinematical differential equation by modelling its time-invariant and time-varying versions with Hamiltonian systems and adopting a three-step strategy. Firstly,a generalized Euler's formula and Cayley-Euler formula are proved and used to construct symplectic single-step transition operators via the centered implicit Euler scheme for autonomous Hamiltonian system. Secondly, the symplecticity, orthogonality and invertibility of the symplectic transition operators are proved rigorously. Finally, the explicit symplectic geometric algorithm for the time-varying quaternion kinematical differential equation, i.e., a non-autonomous and non-linear Hamiltonian system essentially, is designed with the theorems proved. Our novel algorithms have simple structures, linear time complexity and constant space complexity of computation. The correctness and efficiencies of the proposed algorithms are verified and validated via numerical simulations.展开更多
Software system is developed for real-time processing of 3D graphics by Visual C + + calling functions in PpenGL under the environment of Windows NT(Windows 95). By 3D modeling after mathematics modeling automatic gen...Software system is developed for real-time processing of 3D graphics by Visual C + + calling functions in PpenGL under the environment of Windows NT(Windows 95). By 3D modeling after mathematics modeling automatic generation of 3D soid and real-time processing of 3D animaation are realized, and a microcomputer system is developed for real-time kinematic simulation.展开更多
搭载的低成本微机电系统惯性测量单元(micro-electro-mechanical system-inertial measurement unit, MEMS-IMU)的实时动态载波相位差分(real time kinematic, RTK)接收机的初始对准是一个关键的技术问题,也是目前惯导RTK的一个挑战。...搭载的低成本微机电系统惯性测量单元(micro-electro-mechanical system-inertial measurement unit, MEMS-IMU)的实时动态载波相位差分(real time kinematic, RTK)接收机的初始对准是一个关键的技术问题,也是目前惯导RTK的一个挑战。针对这个问题,提出一种基于梯度下降的惯导RTK初始对准方法,将多矢量定姿与梯度下降相融合,有效地提高了多矢量定姿的精度。通过仿真实验和现场实验验证改进算法的有效性。试验结果表明:在不使用任何附加传感器(如磁力计)的情况下,使用低成本MEMS-IMU,仅需2~3 s,就可以在91%的置信度下,对中杆倾斜40°范围内RTK的测量精度达到2.5 cm,该算法的精度和收敛速度都能很好地满足惯导RTK应用的要求。展开更多
文摘Aimed at the real-time forward kinematics solving problem of Stewart parallel manipulator in the control course, a mixed algorithm combining immune evolutionary algorithm and numerical iterative scheme is proposed. Firstly taking advantage of simpleness of inverse kinematics, the forward kinematics is transformed to an optimal problem. Immune evolutionary algorithm is employed to find approximate solution of this optimal problem in manipulator＇s workspace. Then using above solution as iterative initialization, a speedy numerical iterative scheme is proposed to get more precise solution. In the manipulator running course, the iteration initialization can be selected as the last period position and orientation. Because the initialization is closed to correct solution, solving precision is high and speed is rapid enough to satisfy real-time requirement. This mixed forward kinematics algorithm is applied to real Stewart parallel manipulator in the real-time control course. The examination result shows that the algorithm is very efficient and practical.
文摘针对当前推土机在作业过程中操作复杂、施工效果评估困难等问题,基于北斗实时动态差分定位(real time kinematic,RTK)技术和运动学方程,求得推土机实时位置;提出了以推土高程和设计平面的高程差作为平整施工质量评价的方法,可直观评价施工效果,研制了驾驶引导装置,可实时显示推土机状态与施工进度。工程应用表明,该装置达到了厘米级的定位精度,定位的绝对误差小于5 cm,满足推土机精准施工的需求;车载显示终端使用RS232通信可精确获取推土机坐标、速度、航向等自身状态参数和施工数据。在实际施工场景中,该系统可有效减少驾驶员返工次数、降低劳动强度,提高了施工效率,达到了辅助施工的目的。
基金CONICYT-Chile through Becas Chile Scholarship under Grant No.72140204Universidad Tecnica Federico Santa Maria(Chile)through Faculty Development Scholarship under Grant No.208-13
文摘Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.
基金Project(HgdJG00401D04) supported by National 921 Manned Space Project Foundation of ChinaProject(SKLRS200803B) supported by the Self-Planned Task Foundation of State Key Laboratory of Robotics and System (HIT) of China+1 种基金Project(CDAZ98502211) supported by China’s "World Class University (985)" Project FoundationProject(50975055) supported by the National Natural Science Foundation of China
文摘In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.
基金supported by the Fundamental Research Funds for the Central Universities of China(ZXH2012H005)supported in part by the National Natural Science Foundation of China(61201085,51402356,51506216)+1 种基金the Joint Fund of National Natural Science Foundation of China and Civil Aviation Administration of China(U1633101)the Joint Fund of the Natural Science Foundation of Tianjin(15JCQNJC42800)
文摘Solving quaternion kinematical differential equations(QKDE) is one of the most significant problems in the automation, navigation, aerospace and aeronautics literatures. Most existing approaches for this problem neither preserve the norm of quaternions nor avoid errors accumulated in the sense of long term time. We present explicit symplectic geometric algorithms to deal with the quaternion kinematical differential equation by modelling its time-invariant and time-varying versions with Hamiltonian systems and adopting a three-step strategy. Firstly,a generalized Euler's formula and Cayley-Euler formula are proved and used to construct symplectic single-step transition operators via the centered implicit Euler scheme for autonomous Hamiltonian system. Secondly, the symplecticity, orthogonality and invertibility of the symplectic transition operators are proved rigorously. Finally, the explicit symplectic geometric algorithm for the time-varying quaternion kinematical differential equation, i.e., a non-autonomous and non-linear Hamiltonian system essentially, is designed with the theorems proved. Our novel algorithms have simple structures, linear time complexity and constant space complexity of computation. The correctness and efficiencies of the proposed algorithms are verified and validated via numerical simulations.
文摘Software system is developed for real-time processing of 3D graphics by Visual C + + calling functions in PpenGL under the environment of Windows NT(Windows 95). By 3D modeling after mathematics modeling automatic generation of 3D soid and real-time processing of 3D animaation are realized, and a microcomputer system is developed for real-time kinematic simulation.
文摘搭载的低成本微机电系统惯性测量单元(micro-electro-mechanical system-inertial measurement unit, MEMS-IMU)的实时动态载波相位差分(real time kinematic, RTK)接收机的初始对准是一个关键的技术问题,也是目前惯导RTK的一个挑战。针对这个问题,提出一种基于梯度下降的惯导RTK初始对准方法,将多矢量定姿与梯度下降相融合,有效地提高了多矢量定姿的精度。通过仿真实验和现场实验验证改进算法的有效性。试验结果表明:在不使用任何附加传感器(如磁力计)的情况下,使用低成本MEMS-IMU,仅需2~3 s,就可以在91%的置信度下,对中杆倾斜40°范围内RTK的测量精度达到2.5 cm,该算法的精度和收敛速度都能很好地满足惯导RTK应用的要求。
