In order to effectively derive the inverse kinematic solution of the Delta robot and realize actuator control a description of the linear graph principle for automatically generating kinematic equations in a mechanica...In order to effectively derive the inverse kinematic solution of the Delta robot and realize actuator control a description of the linear graph principle for automatically generating kinematic equations in a mechanical system as well as the symbolic computation implementation of this procedure is reviewed and projected into the Delta robot. Based on the established linear graph representation the explicit symbolic expression of constraint equations and inverse kinematic solutions are obtained successfully using a symbolic computation engine Maple so that actuator control and trajectory tracking can be directly realized.Two practical motions the circular path and Adept motion are simulated for the validation of symbolic solutions respectively.Results indicate that the simulation satisfies the requirement of the quick motion within an acceptable threshold. Thus the precision of kinematic response can be confirmed and the correctness of inverse solution is verified.展开更多
The present paper has a double aim： （1） it attempts to present an aspect of Plotinus＇ philosophical and hermeneutical methodology on the basis of relevant remarks in the treatise ＂On Eternity and Time＂; （2） it...The present paper has a double aim： （1） it attempts to present an aspect of Plotinus＇ philosophical and hermeneutical methodology on the basis of relevant remarks in the treatise ＂On Eternity and Time＂; （2） it seeks to connect this attitude with contemporary methodological questions concerning the relation between philosophy and history of philosophy. After an introduction where it is emphasized that the term ＂Neo-Platonism＂ is of recent coinage, I exploit David Sedley＇s remarks regarding the function of ancient philosophical schools： the quest for the ＂correct＂ interpretation of the school＇s founder as a philosophical enterprise in itself is not an exclusively Neoplatonic characteristic. Nonetheless, the example of Plotinus＇ Enneads III.7, owing to the complexity of its theme, shows that Plotinus does not pay attention only to the Platonic teachings regarding eternity and time, but also to all the other philosophical schools＇ theories, including the Epicurean. The aim is the ascertainment of the truth inherent in them and its apt interpretation. Hence, I follow Steven K. Strange （1950-2009）, who relates the Plotinian methodology to Aristotle＇s endoxic method. After a presentation of similarities and differences between the two philosophers, I conclude that the problematic features posed by several philosophical theories are resolved via an innovative Plotinian reading of Plato. Thus, the non-Platonic theories play a role in the more adequate interpretation of Plato, which is identified with the successful answer to the philosophical problems. This fact makes us wonder as to the best characterization of Plotinus＇ enterprise： philosophy or history of philosophy？ Although the question is somehow anachronistic, Plotinus gives an explicit response in his aforementioned tractate： to the extent that he is interested in solving philosophical problems, rather than compiling a ＂catalogue＂ of past philosophical positions, his enterprise is not historical, but philosophical. Two final corollaries stem from this： （i） to a certain extent, the previous enunciation explains the Neoplatonic reading of Plato; （ii） it teaches us that the difference between philosophizing and a historical treatment of philosophy does not lie only on the content, but also on the manner according to which the interpreter approaches past or contemporary philosophers.展开更多
基金The National Natural Science Foundation of China(No.51205208)
文摘In order to effectively derive the inverse kinematic solution of the Delta robot and realize actuator control a description of the linear graph principle for automatically generating kinematic equations in a mechanical system as well as the symbolic computation implementation of this procedure is reviewed and projected into the Delta robot. Based on the established linear graph representation the explicit symbolic expression of constraint equations and inverse kinematic solutions are obtained successfully using a symbolic computation engine Maple so that actuator control and trajectory tracking can be directly realized.Two practical motions the circular path and Adept motion are simulated for the validation of symbolic solutions respectively.Results indicate that the simulation satisfies the requirement of the quick motion within an acceptable threshold. Thus the precision of kinematic response can be confirmed and the correctness of inverse solution is verified.
文摘The present paper has a double aim： （1） it attempts to present an aspect of Plotinus＇ philosophical and hermeneutical methodology on the basis of relevant remarks in the treatise ＂On Eternity and Time＂; （2） it seeks to connect this attitude with contemporary methodological questions concerning the relation between philosophy and history of philosophy. After an introduction where it is emphasized that the term ＂Neo-Platonism＂ is of recent coinage, I exploit David Sedley＇s remarks regarding the function of ancient philosophical schools： the quest for the ＂correct＂ interpretation of the school＇s founder as a philosophical enterprise in itself is not an exclusively Neoplatonic characteristic. Nonetheless, the example of Plotinus＇ Enneads III.7, owing to the complexity of its theme, shows that Plotinus does not pay attention only to the Platonic teachings regarding eternity and time, but also to all the other philosophical schools＇ theories, including the Epicurean. The aim is the ascertainment of the truth inherent in them and its apt interpretation. Hence, I follow Steven K. Strange （1950-2009）, who relates the Plotinian methodology to Aristotle＇s endoxic method. After a presentation of similarities and differences between the two philosophers, I conclude that the problematic features posed by several philosophical theories are resolved via an innovative Plotinian reading of Plato. Thus, the non-Platonic theories play a role in the more adequate interpretation of Plato, which is identified with the successful answer to the philosophical problems. This fact makes us wonder as to the best characterization of Plotinus＇ enterprise： philosophy or history of philosophy？ Although the question is somehow anachronistic, Plotinus gives an explicit response in his aforementioned tractate： to the extent that he is interested in solving philosophical problems, rather than compiling a ＂catalogue＂ of past philosophical positions, his enterprise is not historical, but philosophical. Two final corollaries stem from this： （i） to a certain extent, the previous enunciation explains the Neoplatonic reading of Plato; （ii） it teaches us that the difference between philosophizing and a historical treatment of philosophy does not lie only on the content, but also on the manner according to which the interpreter approaches past or contemporary philosophers.
