针对四轴机器人的控制问题,提出了一种基于LPC2119和LPC2104的多处理器并行处理的设计方案。首先,介绍了该机器人的意义和应用领域、分布式并行架构的组成,以及各部分硬件结构的设计。针对机器人的行走问题,提出了一种基于时序的路径记...针对四轴机器人的控制问题,提出了一种基于LPC2119和LPC2104的多处理器并行处理的设计方案。首先,介绍了该机器人的意义和应用领域、分布式并行架构的组成,以及各部分硬件结构的设计。针对机器人的行走问题,提出了一种基于时序的路径记忆算法TPMA(Time Based Path Memory Algorithm),并对算法进行了详细描述。然后,对机器人的主要功能模块做了较详细的说明,包括语音控制、红外避障控制及无线控制的实现方法,最后介绍了软件系统的设计并给出了主要程序流程。展开更多
In order to realize the memory cutting of a shearer, made use of the memorizedcutting path and acquisitioned cutting parameters, and realized the teaching and playbackof the cutting path.In order to optimize the memor...In order to realize the memory cutting of a shearer, made use of the memorizedcutting path and acquisitioned cutting parameters, and realized the teaching and playbackof the cutting path.In order to optimize the memory cutting path of a shearer, took intoaccount the constraints of coal mining craft, coal quality and the adaption faculty of coalmining equipments.Genetic algorithm theory was used to optimize the memory cutting ofshearer and simulate with Matlab, and realized the most valuable mining recovery rate.The experimental results show that the optimization of the memory cutting path of ashearer based on the genetic algorithm is feasible and obtains the most valuable memorycutting path, improving the ability of shearer automatic cutting.展开更多
文摘针对四轴机器人的控制问题,提出了一种基于LPC2119和LPC2104的多处理器并行处理的设计方案。首先,介绍了该机器人的意义和应用领域、分布式并行架构的组成,以及各部分硬件结构的设计。针对机器人的行走问题,提出了一种基于时序的路径记忆算法TPMA(Time Based Path Memory Algorithm),并对算法进行了详细描述。然后,对机器人的主要功能模块做了较详细的说明,包括语音控制、红外避障控制及无线控制的实现方法,最后介绍了软件系统的设计并给出了主要程序流程。
基金Supported by the High-Tech Research and Development Program of China(2008AA062202)Fok Ying Tung Education Foundation(114003)New Teacher Foundation for the Doctoral Program of Ministry of Education(20070290538)
文摘In order to realize the memory cutting of a shearer, made use of the memorizedcutting path and acquisitioned cutting parameters, and realized the teaching and playbackof the cutting path.In order to optimize the memory cutting path of a shearer, took intoaccount the constraints of coal mining craft, coal quality and the adaption faculty of coalmining equipments.Genetic algorithm theory was used to optimize the memory cutting ofshearer and simulate with Matlab, and realized the most valuable mining recovery rate.The experimental results show that the optimization of the memory cutting path of ashearer based on the genetic algorithm is feasible and obtains the most valuable memorycutting path, improving the ability of shearer automatic cutting.
