The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this prob...The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.展开更多
In this paper, a scheme of close-loop feedback is proposed to induce transition of spiral pattern in the excitable media, which is described with the modified FitzHugh-Nagumo model. The numerical simulation results co...In this paper, a scheme of close-loop feedback is proposed to induce transition of spiral pattern in the excitable media, which is described with the modified FitzHugh-Nagumo model. The numerical simulation results confirm that the stable rotating spiral wave is removed and the whole media becomes homogeneous when appropriate intensity of feedback is used no matter whether the coupling feedback is imposed on the whole media or the sites in one line in the media.展开更多
This paper mainly introduces an output control method with high stable precision of a large power IGBT arc welding inverter. Experiments indicate that this kind of control mode can effectively improve the static and d...This paper mainly introduces an output control method with high stable precision of a large power IGBT arc welding inverter. Experiments indicate that this kind of control mode can effectively improve the static and dynamic characteristics and stability of power supply system. And it can decrease the spatters in the welding process apparently. This power supply is especially suitable to automatic robot welding assembly line. It will be the developing direction of robot welding supply in the future.展开更多
Based on the analysis of current Quality of Service (QoS) management on IP network, new genera-tion of QoS architecture QoSAF is proposed. QoSAF is divided into three layers: resource control layer, net-work service l...Based on the analysis of current Quality of Service (QoS) management on IP network, new genera-tion of QoS architecture QoSAF is proposed. QoSAF is divided into three layers: resource control layer, net-work service layer and business layer. QoS management is accomplished by interactivity of layers. In this ar-chitecture, mechanism of feedback control enhances the functions of resource management and system moni-toring. The principle of design and logical architecture of system is discussed in detail.展开更多
基金supported by the National Natural Science Foundation of China(Nos.51875287, 52075250)the Special Fund for Transformation of Scientific,and Technological Achievements of Jiangsu Province(No.BA2018053)
文摘The existing kinematic parameter calibration method cannot further improve the absolute positioning accuracy of the robot due to the uncertainty of positioning error caused by robot joint backlash.In view of this problem,a closed‑loop feedback accuracy compensation method for robot joints was proposed.Firstly,a Chebyshev polynomial error estimation model was established which took geometric error and non‑geometric error into account.In addition,the absolute linear grating scale was installed at each joint of the robot and the positioning error of the robot end was mapped to the joint angle.And the joint angle corrected value was obtained.Furthermore,the closed‑loop feedback of robot joints was established to realize the online correction of the positioning error.Finally,an experiment on the KUKA KR210 industrial robot was conducted to demonstrate the effectiveness of the method.The result shows that the maximum absolute positioning error of the robot is reduced by 75%from 0.76 mm to 0.19 mm.This method can compensate the robot joint backlash effectively and further improve the absolute positioning accuracy of the robot.
基金National Natural Science Foundation of China under Grant Nos.10747005 and 10602020Natural Science Foundation of the Education Department of Jiangsu Province of China under Grant No.08KJD110018
文摘In this paper, a scheme of close-loop feedback is proposed to induce transition of spiral pattern in the excitable media, which is described with the modified FitzHugh-Nagumo model. The numerical simulation results confirm that the stable rotating spiral wave is removed and the whole media becomes homogeneous when appropriate intensity of feedback is used no matter whether the coupling feedback is imposed on the whole media or the sites in one line in the media.
文摘This paper mainly introduces an output control method with high stable precision of a large power IGBT arc welding inverter. Experiments indicate that this kind of control mode can effectively improve the static and dynamic characteristics and stability of power supply system. And it can decrease the spatters in the welding process apparently. This power supply is especially suitable to automatic robot welding assembly line. It will be the developing direction of robot welding supply in the future.
基金Partially supported by the Research Fund for the Doc-toral Program of Higher Education (No.20010013003), the National Natural Science Foundation of China (No.90204003), the 863 program (No.2003AA121220), and the 973 program (No.2003CB314806).
文摘Based on the analysis of current Quality of Service (QoS) management on IP network, new genera-tion of QoS architecture QoSAF is proposed. QoSAF is divided into three layers: resource control layer, net-work service layer and business layer. QoS management is accomplished by interactivity of layers. In this ar-chitecture, mechanism of feedback control enhances the functions of resource management and system moni-toring. The principle of design and logical architecture of system is discussed in detail.
