With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding...With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.展开更多
A fourth-order Gm-C Chebyshev low-pass filter is presented as channel selection filter for reconfigurable multi-mode wireless receivers. Low-noise technologies are proposed in optimizing the noise characteristics of b...A fourth-order Gm-C Chebyshev low-pass filter is presented as channel selection filter for reconfigurable multi-mode wireless receivers. Low-noise technologies are proposed in optimizing the noise characteristics of both the Gm cells and the filter topology. A frequency tuning strategy is used by tuning both the transconductance of the Gm cells and the capacitance of the capacitor banks. To achieve accurate cut-off frequencies, an on-chip calibration circuit is presented to compensate for the frequency inaccuracy introduced by process variation. The filter is fabricated in a 0.13 m CMOS process. It exhibits a wide programmable bandwidth from 322.5 k Hz to20 MHz. Measured results show that the filter has low input referred noise of 5.9 n V/（Hz）^（1/2） and high out-of-band IIP3 of 16.2 d Bm. It consumes 4.2 and 9.5 m W from a 1 V power supply at its lowest and highest cut-off frequencies respectively.展开更多
基金supported in part by the National Natural Science Foundation of China(61772493)in part by the Guangdong Province Universities and College Pearl River Scholar Funded Scheme(2019)in part by the Natural Science Foundation of Chongqing(cstc2019jcyjjq X0013)。
文摘With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.
基金Project supported by the National Natural Science Foundation of China(No.61574045)
文摘A fourth-order Gm-C Chebyshev low-pass filter is presented as channel selection filter for reconfigurable multi-mode wireless receivers. Low-noise technologies are proposed in optimizing the noise characteristics of both the Gm cells and the filter topology. A frequency tuning strategy is used by tuning both the transconductance of the Gm cells and the capacitance of the capacitor banks. To achieve accurate cut-off frequencies, an on-chip calibration circuit is presented to compensate for the frequency inaccuracy introduced by process variation. The filter is fabricated in a 0.13 m CMOS process. It exhibits a wide programmable bandwidth from 322.5 k Hz to20 MHz. Measured results show that the filter has low input referred noise of 5.9 n V/（Hz）^（1/2） and high out-of-band IIP3 of 16.2 d Bm. It consumes 4.2 and 9.5 m W from a 1 V power supply at its lowest and highest cut-off frequencies respectively.
