In this paper, we introduce the concept of signed additive fuzzy measure on a class of fuzzy sets, then, on certain condition, a series of decomposition theorems of signed additive fuzzy measure are proved.
This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, ...This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, various trajectory candidates could be conskied. TO select the optimal trajectacy from the several candidates, energy, time, and the length of the tmjecttay could be utilized. In order to quantify the carrying effidency of dual-arms, DAMM has been defined and applied for the decision of the optimal path. DAMM is defined as the interaction of the manipulability ellipsoids of the dualarras, while the manipulability measure irdicates the relationship between the joint velocity and the Cartesian velocity for each ann. The cast function for achieving the optimal path is defined as the Summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-ann robot with distributed controllers for synchronization control has been developed and used for the experiments.展开更多
In this paper, we consider the discrete AKNS-D hierarchy, make the construction of the hierarchy, prove the bilinear identity and give the construction of the τ-functions of this hierarchy.
文摘In this paper, we introduce the concept of signed additive fuzzy measure on a class of fuzzy sets, then, on certain condition, a series of decomposition theorems of signed additive fuzzy measure are proved.
基金supported bythe MKE(The Ministry of Knowledge Economy,Korea)the ITRC(Information Technology Research Center)support program(NIPA-2010-C1090-1021-0010)
文摘This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, various trajectory candidates could be conskied. TO select the optimal trajectacy from the several candidates, energy, time, and the length of the tmjecttay could be utilized. In order to quantify the carrying effidency of dual-arms, DAMM has been defined and applied for the decision of the optimal path. DAMM is defined as the interaction of the manipulability ellipsoids of the dualarras, while the manipulability measure irdicates the relationship between the joint velocity and the Cartesian velocity for each ann. The cast function for achieving the optimal path is defined as the Summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-ann robot with distributed controllers for synchronization control has been developed and used for the experiments.
基金The project supported by National Natural Science Foundation of China under Grant No. 10375087, Fost-doctor Foundation ot China and K.C. Wong Education Fotmdation, Hong Kong The author would like to thank Prof. K. Wu for his helpful discussion.
文摘In this paper, we consider the discrete AKNS-D hierarchy, make the construction of the hierarchy, prove the bilinear identity and give the construction of the τ-functions of this hierarchy.
