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逆运动法车削梯形内螺纹 被引量:1
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作者 陈永亮 张云霜 李晖 《机械工程师》 北大核心 2000年第12期24-24,共1页
介绍了一种采用逆运动法,在车床上车削梯形内螺纹的方法。
关键词 逆运动法 内螺纹 装夹 车床 车削 汽轮机 外环
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三维计算机动画中的关节动画关键算法的分析探讨
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作者 方向 《艺术科技》 2015年第12期66-66,共1页
本文主要针对计算机动画中的关节动画,以关节链结构为基本单位架构骨架系统,对于角色动画中关节动画的一些关键算法进行了分析探讨。
关键词 关节动画 关键算 逆运动法
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农业采摘机械手虚拟仿真设计
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作者 安燕霞 张钰坤 林娣 《农业技术与装备》 2024年第4期5-7,共3页
精确控制机械手运动可以实现自动化采摘、提高采摘效率,适应智能农业的需求。文章采用逆运动解析法计算出机械臂在末端位姿的全部逆解,并进行了虚拟仿真设计。使用Webots仿真软件对机械手运动的场景进行功能预设,仿真机械手的运动移动... 精确控制机械手运动可以实现自动化采摘、提高采摘效率,适应智能农业的需求。文章采用逆运动解析法计算出机械臂在末端位姿的全部逆解,并进行了虚拟仿真设计。使用Webots仿真软件对机械手运动的场景进行功能预设,仿真机械手的运动移动和搬运工作,得到机械手的工作范围,达到验证运动控制方案的正确性和可行性。 展开更多
关键词 采摘机械手 虚拟仿真 运动解析 Webots
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面向WTAs的VHR双臂避碰操控算法 被引量:1
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作者 李华忠 梁永生 +1 位作者 吴险峰 盛建强 《计算机工程与应用》 CSCD 2014年第14期14-21,115,共9页
针对虚拟仿人机器人(VHR)处理工作空间多目标区域(WTAs)避碰操控问题,先基于齐次变换矩阵和链式相乘法则,建立了VHR双臂机理正向运动学模型,进而推导了两种求解VHR双臂逆运动学的公式(DLS-SVD法和基于链式解耦的解析法);其次,建立了WTA... 针对虚拟仿人机器人(VHR)处理工作空间多目标区域(WTAs)避碰操控问题,先基于齐次变换矩阵和链式相乘法则,建立了VHR双臂机理正向运动学模型,进而推导了两种求解VHR双臂逆运动学的公式(DLS-SVD法和基于链式解耦的解析法);其次,建立了WTAs的数学模型,并以WTAs位姿为操控目标,提出了融合正向和逆向运动学及其双向快速搜索随机树算法的VHR双臂避碰操控算法;最后,通过三维仿真建立VHR虚拟样机,验证了提出算法的正确性和有效性。 展开更多
关键词 虚拟仿人机器人 双臂操控 双向快速搜索随机树 工作空间目标区域 阻尼最小二乘-奇异值分解(DLS-SVD) 运动学(IK)解析
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ISAR MOTION COMPENSATION USING ROPE 被引量:5
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作者 汪玲 朱兆达 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2004年第1期64-68,共5页
Motion compensation is a key step for inverse synthetic aperture radar (ISAR) imaging. Many algorithms have been proposed. The rank one phase estimation (ROPE) algorithm is a good estimator for phase error widely used... Motion compensation is a key step for inverse synthetic aperture radar (ISAR) imaging. Many algorithms have been proposed. The rank one phase estimation (ROPE) algorithm is a good estimator for phase error widely used in SAR. The ROPE algorithm is used in ISAR phase compensation and the concrete implementation steps are presented. Subsequently, the performance of ROPE is analyzed. For ISAR data that fit the ROPE algorithm model, an excellent compensation effect can be obtained with high computation efficiency. Finally, ISAR real data are processed with ROPE and its imaging result is compared with that obtained by the modified Doppler centroid tracking (MDCT) method, which is a robust and good estimator in ISAR phase compensation. 展开更多
关键词 inverse synthetic aperture radar (ISAR) motion compensation phase compensation rank one phase estimation (ROPE)
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A numerical error analysis method and its application on a 4RRR parallel kinematic machine
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作者 刘大炜 Wang Liping +2 位作者 Li Tiemin Tang Limin Guo Zhiping 《High Technology Letters》 EI CAS 2010年第4期345-351,共7页
To guarantee the accuracy of error analysis and evaluate the manufacturing tolerance s influence,anumerical error analysis method for parallel kinematic machines (PKMs) is presented in this paper.Quasi-Newton method a... To guarantee the accuracy of error analysis and evaluate the manufacturing tolerance s influence,anumerical error analysis method for parallel kinematic machines (PKMs) is presented in this paper.Quasi-Newton method and genetic algorithm are introduced for the forward kinematic solution.Based onthe inverse and forward kinematic solutions,the end-effector s error calculation procedure is developed.To solve the accuracy problem caused by the length and angular parameters' different units,a normalizationmethod is proposed based on the manufacturing tolerance.Comparison between the error analysis resultscalculated by the traditional method and the numerical method for a 4RRR PKM shows that,this numericalerror analysis method is more accurate,simpler,and can evaluate the machine s real error basedon the manufacturing tolerance. 展开更多
关键词 parallel kinematic machine (PKMs) error analysis error normalization quasi-Newton method genetic algorithm
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Regularization Method and Immune Genetic Algorithm for Inverse Problems of Ship Maneuvering
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作者 刘小健 黄国樑 邓德衡 《Journal of Shanghai Jiaotong university(Science)》 EI 2009年第4期467-470,共4页
Ship maneuverability, in the field of ship engineering, is often predicted by maneuvering motion group (MMG) mathematical model. Then it is necessary to determine hydrodynamic coefficients and interaction force coef... Ship maneuverability, in the field of ship engineering, is often predicted by maneuvering motion group (MMG) mathematical model. Then it is necessary to determine hydrodynamic coefficients and interaction force coefficients of the model. Based on the data of free running model test, the problem for obtaining these coefficients is called inverse one. For the inverse problem, ill-posedness is inherent, nonlinearity and great computation happen, and the computation is also insensitive, unstable and time-consuming. In the paper, a regularization method is introduced to solve ill-posed problem and genetic algorithm is used for nonlinear motion of ship maneuvering. In addition, the immunity is applied to solve the prematurity, to promote the global searching ability and to increase the converging speed. The combination of regularization method and immune genetic algorithm(RIGA) applied in MMG mathematical model, showed rapid converging speed and good stability. 展开更多
关键词 ship maneuvering inverse problem regularization method IMMUNE
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