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Control algorithm based on trajectory and orientation of oblique intersection line welding-cutting robot 被引量:4
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作者 薛龙 王德国 +2 位作者 邹勇 徐立力 贾滨阳 《China Welding》 EI CAS 2011年第4期34-39,共6页
Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is ... Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots. 展开更多
关键词 oblique intersection line welding robot trajectory interpolat4on simulation
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Search Algorithm for Determining the Range of the Possible Collision of Conver Polygons
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作者 Li Qinghua(Department of Computer Science and EngineeringHuazhong University of Science Technology, Wuhan, 430074, P. R. China) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1996年第3期31-42,共12页
Let P=(po, p1,..., pn-1 ) and Q=(qo,q1..., qm-1) be two arbitrary convex polygonsin plane. In this paper, the author studies the problems of how to quickly determine their possiblecollision range and movable range. In... Let P=(po, p1,..., pn-1 ) and Q=(qo,q1..., qm-1) be two arbitrary convex polygonsin plane. In this paper, the author studies the problems of how to quickly determine their possiblecollision range and movable range. In the paper, a new sufficient and necessary condition for decidingpossible collision is proposed,and the basic characters of the oblique supporting lines are investigated,and on these grounds the problem to determine the possible collision range is transformed into thatof searching the supporting points on the sets of convex polygon vertexs. Using the strategy ofsearching simultaneously the sets of vertexes of P and Q, the author constructs the fast algorithmfor finding the supporting points, the time-complexity of which is O(log2(m + n)). Based on theseresults, the algorithms to quickly determine the range are given, which possess the time-complexityof O(log2(m+n)). 展开更多
关键词 Possible collision Ranges of possible and impossible collision oblique supporting line Supporting points.
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