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带闭链机器人动力学建模的符号-数值技术 被引量:3
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作者 陈永 李立 刘朝晖 《高技术通讯》 CAS CSCD 1994年第5期1-5,共5页
对带闭链的(并联型)机器人的动力学建模采用了符号-数值方法,在计算机上获得了一、二阶影响系数矩阵和动力学方程中各矩阵元素的最简解析表达式,解决了当分支的广义坐标数不等于6时出现的长方形(奇异)矩阵求逆的解析表达问题。... 对带闭链的(并联型)机器人的动力学建模采用了符号-数值方法,在计算机上获得了一、二阶影响系数矩阵和动力学方程中各矩阵元素的最简解析表达式,解决了当分支的广义坐标数不等于6时出现的长方形(奇异)矩阵求逆的解析表达问题。此外,还将键图法与符号-数值技术结合用于机器人动力学的建模及仿真。 展开更多
关键词 机器人 动力学 建模 符号-数值法
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一种四自由度空间并联机构的奇异位形解析 被引量:3
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作者 徐礼钜 范守文 《机械设计与研究》 CSCD 2002年第4期15-17,共3页
通过建立一种四自由度空间并联机构位姿约束方程 ,导出了该并联机构具有二维移动和二维转动的运动性质。推导出了奇异位形判别的解析表达式 ,在推导过程中引入数值—符号处理技术 ,得到了多项式代数方程中每一系数元素的数值—符号形式... 通过建立一种四自由度空间并联机构位姿约束方程 ,导出了该并联机构具有二维移动和二维转动的运动性质。推导出了奇异位形判别的解析表达式 ,在推导过程中引入数值—符号处理技术 ,得到了多项式代数方程中每一系数元素的数值—符号形式的解析表达式 ,并得到了奇异曲面方程及奇异曲面的截面曲线图。 展开更多
关键词 奇异位形 数值-符号 机器人 四自由度空间并联机构
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On expansion of estimated stability region:Theory,methodology,and application to power systems 被引量:9
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作者 LIU Feng WEI Wei MEI ShengWei 《Science China(Technological Sciences)》 SCIE EI CAS 2011年第6期1394-1406,共13页
The expansion of the estimated stability region plays an important role in the stability analysis of nonlinear systems.However,current literatures have not provided a complete mathematical description for this problem... The expansion of the estimated stability region plays an important role in the stability analysis of nonlinear systems.However,current literatures have not provided a complete mathematical description for this problem.This paper reveals that essentially the enlargement or the compression of the estimated stability region results directly from the diffeomorphism map,which is induced by the flow contained in the stability region.By proving that any integration algorithm with an order higher than one can approximately trace the flow of the system,a generalized methodology is proposed to construct various algorithms to realize the enlargement or the compression of the estimated stability region.With this methodology,two new algorithms based on symbolic calculation are suggested to reduce the computational burden.Furthermore,this methodology is applied to construct a scalable numerical algorithm to calculate the critical clearing time(CCT) of the power system for given faults.Tests on the IEEE 10-machine 39-bus system show that the computational results coincide well with the step-by-step simulation with high accuracy. 展开更多
关键词 nonlinear system stability region power systems transient stability analysis
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Exact Bivariate Polynomial Factorization over Q by Approximation of Roots
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作者 FENG Yong WU Wenyuan +1 位作者 ZHANG Jingzhong CHEN Jingwei 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2015年第1期243-260,共18页
Factorization of polynomials is one of the foundations of symbolic computation.Its applications arise in numerous branches of mathematics and other sciences.However,the present advanced programming languages such as C... Factorization of polynomials is one of the foundations of symbolic computation.Its applications arise in numerous branches of mathematics and other sciences.However,the present advanced programming languages such as C++ and J++,do not support symbolic computation directly.Hence,it leads to difficulties in applying factorization in engineering fields.In this paper,the authors present an algorithm which use numerical method to obtain exact factors of a bivariate polynomial with rational coefficients.The proposed method can be directly implemented in efficient programming language such C++ together with the GNU Multiple-Precision Library.In addition,the numerical computation part often only requires double precision and is easily parallelizable. 展开更多
关键词 Factorization of multivariate polynomials interpolation methods minimal polynomial numerical continuation.
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