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基于轨迹生成法的机器鱼位姿控制研究 被引量:2
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作者 肖权 乐绪鑫 +2 位作者 任岩 王瑞清 谢广明 《机械设计》 CSCD 北大核心 2013年第8期7-11,共5页
位姿控制是机器鱼研究的基础,机器鱼游动的实质是位姿到位姿的变化,位姿控制效果直接影响机器鱼完成目标任务的质量。在行为机制基础上,以机器鱼从起始位姿到目标位姿的距离与夹角误差建立矢量矩阵,并以矢量矩阵参量建立极坐标与Lyapuno... 位姿控制是机器鱼研究的基础,机器鱼游动的实质是位姿到位姿的变化,位姿控制效果直接影响机器鱼完成目标任务的质量。在行为机制基础上,以机器鱼从起始位姿到目标位姿的距离与夹角误差建立矢量矩阵,并以矢量矩阵参量建立极坐标与Lyapunov函数,分析机器鱼从起始位姿到目标位姿的稳定性;在此基础上,给定起始位姿与目标位姿,并在起始位姿与目标位姿分别以"舒适圆"为半径做两个圆,采用轨迹生成法对机器鱼位姿控制进行研究,并对实验效果进行了分析。 展开更多
关键词 机器鱼 行为机制 轨迹生成法 位姿控制
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数控加工中参数线刀具轨迹生成方法的研究
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作者 沈建新 平雪良 《计算机辅助设计与制造》 2002年第1期30-31,35,共3页
关键词 数控加工 参数线加工 刀具轨迹生成法
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关节型机械臂高承载轨迹规划方法研究 被引量:4
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作者 唐润智 李铁军 杨冬 《机械传动》 北大核心 2020年第7期1-9,共9页
针对关节型机械臂普遍具有负载自重比低的问题,提出了两种提高机械臂承载能力的轨迹规划方法。第一种为轨迹生成法,将运动过程分段,借助正确的动力学模型选取每段运动过程中的关节加速度值,然后,将所有的加速度值进行组合,生成一组力矩... 针对关节型机械臂普遍具有负载自重比低的问题,提出了两种提高机械臂承载能力的轨迹规划方法。第一种为轨迹生成法,将运动过程分段,借助正确的动力学模型选取每段运动过程中的关节加速度值,然后,将所有的加速度值进行组合,生成一组力矩平滑的运动轨迹,避免了运动过程中出现过大的关节力矩峰值。第二种为轨迹优化法,预先选取一种标准预定义运动曲线作为运动轨迹,使用遗传算法优化运动曲线的参数,将机械臂的关节力矩峰值降到最低,同样避免了出现过大的关节力矩峰值。经过Adams仿真发现,相比于其他常用的各种轨迹规划方法,这两种方法明显提高了机械臂的承载能力。最后,通过实验,验证了所述方法的正确性与有效性。 展开更多
关键词 关节型机械臂 承载能力 动力学 轨迹生成法 轨迹优化
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GENERATION METHOD FOR FIVE-AXIS NC SPIRAL TOOL PATH BASED ON PARAMETRIC SURFACE MAPPING 被引量:2
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作者 ZHOU Bo ZHAO Jibin +1 位作者 LIU Weijun LI Lun 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2013年第5期676-694,共19页
A new spiral tool path generation algorithm for 5-axis high speed machining is proposed in this paper.Firstly,the voltage contours are calculated to satisfy the machining parameters in the mapping parametric domain by... A new spiral tool path generation algorithm for 5-axis high speed machining is proposed in this paper.Firstly,the voltage contours are calculated to satisfy the machining parameters in the mapping parametric domain by means of the electrostatic field model of partial differential equations.Secondly,the mapping rules are constructed and the machining trajectory is planned out in the standard parametric domain in order to map and generate the spiral trajectory in the corresponding parametric domain.Finally,this trajectory is mapped onto the parametric surface for the obtainment of the spiral tool path.This spiral tool path can realize the machining of complicated parametric surface and trimmed surface without tool retractions.The above-mentioned algorithm has been implemented in several simulations and validated successfully through the actual machining of a complicated cavity.The results indicate that this method is superior to the existing machining methods to realize the high speed machining of the complicate-shaped cavity based on parametric surface and trimmed surface. 展开更多
关键词 5-axis NC machining mapping rule partial differential equations spiral tool path.
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A manifold approach to generating iso-scallop trajectories in three-axis machining 被引量:2
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作者 CHEN XuBing LI WenLong XIONG YouLun 《Science China(Technological Sciences)》 SCIE EI CAS 2011年第1期131-139,共9页
A novel approach of iso-scallop trajectory generation for smooth manifold surfaces has been developed. Firstly,by defining homeomorphism mapping relations and differentiable structures,the smooth manifold surface is m... A novel approach of iso-scallop trajectory generation for smooth manifold surfaces has been developed. Firstly,by defining homeomorphism mapping relations and differentiable structures,the smooth manifold surface is mapped into several Euclidean planes,thus its trajectory generation can be decomposed into planar curve-filling tasks. Secondly,in the generation of direction-parallel trajectories,the calculation of the cutting interval and the curvature is given,depending on the generation of the first curve in the projection view. Thirdly,after automatic adherences of inverse projection curves,the filled curves are mapped into the original surface inversely to form trajectories. Although the required trajectories are iso-scallop,the trajectory intervals are variable according to the curvature changes at the projection point,which is advantageous to improving the trajectory quality. The proposed approach has appealing merits of dimensionality reduction,which decreases the algorithm complexity. Finally,numerical and machining examples are given to illustrate its feasibility and validity. 展开更多
关键词 smooth manifold surface iso-scallop trajectory three-axis machining homeomorphism mapping REGULARITY
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