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基于动量控制的人型机器人实时稳定全身运动规划 被引量:3
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作者 陈毅鸿 陈启军 《控制理论与应用》 EI CAS CSCD 北大核心 2014年第6期757-763,共7页
本文介绍了一种通过动量控制来生成人型机器人稳定的全身运动生成算法.首先,本文引入了基于浮体坐标系的运动学模型来实现全身运动规划以及工作空间的拓展;并为了解决因此产生的实时运动规划中的稳定性问题,本文定义、分析、求解了机器... 本文介绍了一种通过动量控制来生成人型机器人稳定的全身运动生成算法.首先,本文引入了基于浮体坐标系的运动学模型来实现全身运动规划以及工作空间的拓展;并为了解决因此产生的实时运动规划中的稳定性问题,本文定义、分析、求解了机器人运动中的动量因素来作为运动过程中的自平衡器;结合任务空间法同时实现了末端轨迹跟踪和自平衡约束;最后通过仿真和实体机器人实验验证了最终算法的有效性.通过运用本文算法,机器人实现了在屈体向前以及动态跟踪人体运动两个应用场景中的自平衡,并通过对比有无平衡器的质心曲线等数据证明了算法的有效性以及必要性. 展开更多
关键词 浮体运动学 动量控制 自平衡 人型机器人 实时性
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A Coupled Analysis of Nonlinear Sloshing and Ship Motion 被引量:4
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作者 Shuo Huang Wenyang Duan Hao Zhang 《Journal of Marine Science and Application》 2012年第4期427-436,共10页
Nonlinear interactions among incident wave, tank-sloshing and floating body coupling motion are investigated. The fully nonlinear sloshing and body-surface nonlinear free surface hydrodynamics is simulated using a Non... Nonlinear interactions among incident wave, tank-sloshing and floating body coupling motion are investigated. The fully nonlinear sloshing and body-surface nonlinear free surface hydrodynamics is simulated using a Non-Uniform Rational B-Spline (NURBS) higher-order panel method in time domain based on the potential theory. A robust and stable improved iterative procedure (Yan and Ma, 2007) for floating bodies is used for calculating the time derivative of velocity potential and floating body motion. An energy dissipation condition based on linear theory adopted by Huang (2011) is developed to consider flow viscosity effects of sloshing flow in nonlinear model. A two-dimensional tank model test was performed to identify its validity. The present nonlinear coupling sway motion results are subsequently compared with the corresponding Rognebakke and Faltinsen (2003)'s experimental results, showing fair agreement. Thus, the numerical approach presented in this paper is expected to be very efficient and realistic in evaluating the coupling effects of nonlinear sloshing and body motion. 展开更多
关键词 NONLINEAR tank-sloshing coupling motion energy dissipation
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Motion Characteristics of Novel Floating Foundation for Offshore Wind Turbine 被引量:1
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作者 李嘉文 唐友刚 王宾 《Transactions of Tianjin University》 EI CAS 2016年第1期57-63,共7页
A novel floating foundation to support the NREL offshore 5 MW wind turbine was designed conceptually by combining the characteristics of barge and Spar. The main focus was structural design and hydrodynamic modelling.... A novel floating foundation to support the NREL offshore 5 MW wind turbine was designed conceptually by combining the characteristics of barge and Spar. The main focus was structural design and hydrodynamic modelling. Based on this novel floating foundation, the hydrodynamic performance was investigated in the frequency domain and time domain by using the wave analysis software Hydro D and Deep C from Det Norske Veritas. The frequency domain analysis was conducted to investigate the effects of the incident wave angle and water depth. The time-domain analysis was carried out to evaluate the response of the floating foundation under a selected operational condition. The hydrodynamic performances of this floating foundation with respect to time series and response spectra were also investigated in this study. 展开更多
关键词 offshore wind turbine floating foundation frequency domain analysis time domain analysis
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