This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ...This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.展开更多
This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. H...This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.展开更多
针对宏-微机械手末端位姿、位置准确度的误差问题,受细胞学操纵子学说的启发,提出了基于操纵子模型的宏-微精密机械手运动的映射关系,研究精密机械手运动的影响因子和细胞学中的操纵子模型,分析机械手精密运动影响因子的影响方式和操纵...针对宏-微机械手末端位姿、位置准确度的误差问题,受细胞学操纵子学说的启发,提出了基于操纵子模型的宏-微精密机械手运动的映射关系,研究精密机械手运动的影响因子和细胞学中的操纵子模型,分析机械手精密运动影响因子的影响方式和操纵子模型的结构组成及其工作机理,结合操纵子模型的工作机理,分析宏-微机械手的控制系统,在此基础上,求解机械手精密运动控制系统的操纵子模型,考虑在几何因素的影响下,得出机械手末端位置在影响因子前后的误差值,通过基于粒子群算法的比例-积分-微分(Proportional-integral-differential,PID)控制器对误差结果进行优化,得出基于时间乘绝对误差积分准则(Time multiplied by the absolute error integral,ITAE)的粒子群算法(Particle swarm optimization,PSO)变化曲线和PID最优的控制参数。结论表明由映射关系推导出的控制系统能够满足一定的精度要求,并能进一步提高机械手的运动精度,为生物控制在机器人中进一步的创新研究提供了理论基础和依据。展开更多
This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manip...This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manipulator possesses the advantages of wide operating range, high speed, and low energy consumption, but the disadvantage of a low tracking precision. The macro-micro manipulator system improves tracking performance by compensating for the endpoint tracking error while maintaining the advantages of the flexible macro manipulator. A trajectory planning scheme was built utilizing the task space division method. The division point is chosen to optimize the error compensation and energy consumption for the whole system. Then movements of the macro-micro manipulator can be determined using separate inverse kinematic models. Simulation results for a planar 4-DOF macro-micro manipulator system are presented to show the effectiveness of the control system.展开更多
Objective To explore the mechanism of An-Pressing manipulation in relieving energy crisis in chronic myofascial trigger points(MTrPs)by observing the effects of An-Pressing manipulation on adenosine triphosphate(ATP),...Objective To explore the mechanism of An-Pressing manipulation in relieving energy crisis in chronic myofascial trigger points(MTrPs)by observing the effects of An-Pressing manipulation on adenosine triphosphate(ATP),adenosine 5′-monophosphate(AMP)-activated protein kinase(AMPK)/peroxisome proliferator-activated receptorγcoactivator 1α(PGC-1α)pathway and mitochondrial ultrastructure of skeletal muscle cells in MTrPs rats.Methods Forty-eight male Sprague-Dawley rats were randomly divided into a blank group,a model group,a lidocaine group,and an An-Pressing manipulation group,with 12 rats in each group.The model group,lidocaine group and An-Pressing manipulation group were used to replicate the MTrPs rat model by blunt shock and centrifugal motion method.After modeling,the An-Pressing manipulation group was subjected to 7 times An-Pressing manipulation,once every other day;the lidocaine group was treated with 3 times of injection of lidocaine at the MTrPs,once every 6 d.The blank group and the model group were fed normally without intervention.After the intervention,local muscle tissue was taken to detect the content of ATP and the expression of AMPK,phosphorylated AMPK(phospho-AMPK),PGC-1α,and glucose transporter 4(GluT4),and the ultrastructure of mitochondria was observed under an electron microscope.Results Compared with the blank group,the ATP content in the model group was decreased(P<0.05),the protein expression levels of phospho-AMPK,PGC-1α,and GluT4 and the ratio of phospho-AMPK to AMPK were decreased(P<0.05);under the electron microscope,the number of mitochondria decreased,and they were deformed,small in volume,and had deformed cristae.Compared with the model group,the ATP contents in the An-Pressing manipulation group and the lidocaine group were increased(P<0.05),and the protein expression levels of phospho-AMPK,PGC-1α,and GluT4 and the ratio of phospho-AMPK to AMPK were increased(P<0.05);under the electron microscope,the number of mitochondria increased,the shape and size of the mitochondria were basically normal,and the cristae could be seen.Compared with the lidocaine group,phospho-AMPK and the ratio of phospho-AMPK to AMPK in the An-Pressing manipulation group were increased(P<0.05);under the electron microscope,the numbers of mitochondria were similar,and the shape and size of the mitochondria were basically normal without swelling,and the cristae could be observed.Conclusion An-Pressing manipulation can increase the ATP content in MTrPs tissue,improve the expression levels of PGC-1α and GluT4 proteins and the ratio of phospho-AMPK to AMPK;its mechanism may relate to the activation of AMPK/PGC-1α signaling pathway to promote the repair of mitochondrial damages.展开更多
500m口径球面射电望远镜(Five hundred meter aperture spherical radio telescope,FAST)的馈源支撑与指向跟踪机构由宏微并联机器人系统构成,大跨度柔索驱动的宏并联机器人保证系统的大工作空间,精密电动缸驱动的Stewart平台作为微并...500m口径球面射电望远镜(Five hundred meter aperture spherical radio telescope,FAST)的馈源支撑与指向跟踪机构由宏微并联机器人系统构成,大跨度柔索驱动的宏并联机器人保证系统的大工作空间,精密电动缸驱动的Stewart平台作为微并联机器人保证系统的末端精度并扩展其伺服带宽。为了降低宏并联机器人的柔性对末端定位精度的影响,提出基于并联机构学原理的三维机动目标解耦跟踪预测算法,对馈源舱的运动进行跟踪预测。引入自适应交互算法解决PID参数的实时调整,设计自适应交互PID监督控制器,根据馈源舱的预测运动和馈源平台的目标轨迹产生电动缸规划级控制量。此外,在电动缸执行级采用带前馈的数字伺服滤波器实现电动缸的高精度轨迹跟踪。FAST50m缩尺模型试验表明,结合解耦预测算法对馈源舱的运动预测,自适应交互PID监督控制器效果良好,能够确保宏微并联机器人系统在以期望的跟踪速度运行时,获得完全满足控制要求的定位精度和指向精度。展开更多
基金supported by the Key Project of Chinese Ministry of Education(108037)the National Natural Science Foundation of China(10402008 and 50535010)
文摘This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.
基金supported by the National Natural Science Foundation of China (11072122)
文摘This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.
文摘针对宏-微机械手末端位姿、位置准确度的误差问题,受细胞学操纵子学说的启发,提出了基于操纵子模型的宏-微精密机械手运动的映射关系,研究精密机械手运动的影响因子和细胞学中的操纵子模型,分析机械手精密运动影响因子的影响方式和操纵子模型的结构组成及其工作机理,结合操纵子模型的工作机理,分析宏-微机械手的控制系统,在此基础上,求解机械手精密运动控制系统的操纵子模型,考虑在几何因素的影响下,得出机械手末端位置在影响因子前后的误差值,通过基于粒子群算法的比例-积分-微分(Proportional-integral-differential,PID)控制器对误差结果进行优化,得出基于时间乘绝对误差积分准则(Time multiplied by the absolute error integral,ITAE)的粒子群算法(Particle swarm optimization,PSO)变化曲线和PID最优的控制参数。结论表明由映射关系推导出的控制系统能够满足一定的精度要求,并能进一步提高机械手的运动精度,为生物控制在机器人中进一步的创新研究提供了理论基础和依据。
基金the National Natural Science Foundation of China (No. 60305008)
文摘This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manipulator possesses the advantages of wide operating range, high speed, and low energy consumption, but the disadvantage of a low tracking precision. The macro-micro manipulator system improves tracking performance by compensating for the endpoint tracking error while maintaining the advantages of the flexible macro manipulator. A trajectory planning scheme was built utilizing the task space division method. The division point is chosen to optimize the error compensation and energy consumption for the whole system. Then movements of the macro-micro manipulator can be determined using separate inverse kinematic models. Simulation results for a planar 4-DOF macro-micro manipulator system are presented to show the effectiveness of the control system.
文摘Objective To explore the mechanism of An-Pressing manipulation in relieving energy crisis in chronic myofascial trigger points(MTrPs)by observing the effects of An-Pressing manipulation on adenosine triphosphate(ATP),adenosine 5′-monophosphate(AMP)-activated protein kinase(AMPK)/peroxisome proliferator-activated receptorγcoactivator 1α(PGC-1α)pathway and mitochondrial ultrastructure of skeletal muscle cells in MTrPs rats.Methods Forty-eight male Sprague-Dawley rats were randomly divided into a blank group,a model group,a lidocaine group,and an An-Pressing manipulation group,with 12 rats in each group.The model group,lidocaine group and An-Pressing manipulation group were used to replicate the MTrPs rat model by blunt shock and centrifugal motion method.After modeling,the An-Pressing manipulation group was subjected to 7 times An-Pressing manipulation,once every other day;the lidocaine group was treated with 3 times of injection of lidocaine at the MTrPs,once every 6 d.The blank group and the model group were fed normally without intervention.After the intervention,local muscle tissue was taken to detect the content of ATP and the expression of AMPK,phosphorylated AMPK(phospho-AMPK),PGC-1α,and glucose transporter 4(GluT4),and the ultrastructure of mitochondria was observed under an electron microscope.Results Compared with the blank group,the ATP content in the model group was decreased(P<0.05),the protein expression levels of phospho-AMPK,PGC-1α,and GluT4 and the ratio of phospho-AMPK to AMPK were decreased(P<0.05);under the electron microscope,the number of mitochondria decreased,and they were deformed,small in volume,and had deformed cristae.Compared with the model group,the ATP contents in the An-Pressing manipulation group and the lidocaine group were increased(P<0.05),and the protein expression levels of phospho-AMPK,PGC-1α,and GluT4 and the ratio of phospho-AMPK to AMPK were increased(P<0.05);under the electron microscope,the number of mitochondria increased,the shape and size of the mitochondria were basically normal,and the cristae could be seen.Compared with the lidocaine group,phospho-AMPK and the ratio of phospho-AMPK to AMPK in the An-Pressing manipulation group were increased(P<0.05);under the electron microscope,the numbers of mitochondria were similar,and the shape and size of the mitochondria were basically normal without swelling,and the cristae could be observed.Conclusion An-Pressing manipulation can increase the ATP content in MTrPs tissue,improve the expression levels of PGC-1α and GluT4 proteins and the ratio of phospho-AMPK to AMPK;its mechanism may relate to the activation of AMPK/PGC-1α signaling pathway to promote the repair of mitochondrial damages.
文摘500m口径球面射电望远镜(Five hundred meter aperture spherical radio telescope,FAST)的馈源支撑与指向跟踪机构由宏微并联机器人系统构成,大跨度柔索驱动的宏并联机器人保证系统的大工作空间,精密电动缸驱动的Stewart平台作为微并联机器人保证系统的末端精度并扩展其伺服带宽。为了降低宏并联机器人的柔性对末端定位精度的影响,提出基于并联机构学原理的三维机动目标解耦跟踪预测算法,对馈源舱的运动进行跟踪预测。引入自适应交互算法解决PID参数的实时调整,设计自适应交互PID监督控制器,根据馈源舱的预测运动和馈源平台的目标轨迹产生电动缸规划级控制量。此外,在电动缸执行级采用带前馈的数字伺服滤波器实现电动缸的高精度轨迹跟踪。FAST50m缩尺模型试验表明,结合解耦预测算法对馈源舱的运动预测,自适应交互PID监督控制器效果良好,能够确保宏微并联机器人系统在以期望的跟踪速度运行时,获得完全满足控制要求的定位精度和指向精度。
