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Sabine Stifter 《Journal of Intelligent and Robotic Systems》1997,19(2):187-205
This paper treats the path finding problem for robots whose joints cannot be controlled in such a way that the end-effector follows a prespecified trajectory. Hence, if two or more joints are moving at the same time during the motion, the relative positions for the joints, i.e. the exact positions of the end-effector, are not known. This may be due to the low level control of the robot (for example, with heavy load robots), or due to a complicated kinematic structure. For such mechanisms a motion is specified by certain intermediate positions (values for all joints) along a desired path. These intermediate positions (synchronization points) and the requirement that the motions in the single joints are monotonous between consecutive synchronization points guarantee a certain structure of a path. We develop a new algorithm that determines paths for such mechanisms, i.e., a respective sequence of intermediate positions, such that the path is collision free and is shortest with respect to different optimality criteria. 相似文献
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快速傅里叶变换(fast Fourier transform,FFT)在非同步采样和非整数周期截断时存在频谱泄漏,无法精确得到谐波参数。为了减少非同步采样对FFT的影响,本文采用四项最低旁瓣Nuttall窗结合双谱线插值FFT进行谐波分析。文章分析了四项最低旁瓣Nuttall窗的频谱特性,提出了基于四项最低旁瓣Nuttall窗插值的分析算法,运用多项式拟合推导出实用的插值修正公式。仿真结果验证了在非同步采样时,该算法与加Blackman窗和Blackman-Harris窗的插值FFT相比具有更高的精确度,更好的抑制了频谱泄漏。 相似文献
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目前基于TDI 方式的电子像移补偿方法中曝光期间电荷包以行为步长进行转移,使电荷包移动和像移之间存在较大的非同步效应,降低了补偿效果。为了提高像移补偿效果,首先分析了目前基于TDI 方式的电子像移补偿方法中电荷包移动的离散性对补偿效果的影响,提出了一种改进的电子像移补偿方法,从而可以大大减小电荷包和像移之间存在的非同步效应,对比两种方法调制度,从理论上证明了其对补偿效果的提高作用。给出了改进式的电子式像移补偿方法的驱动时序图,通过室内模拟不同像移补偿实验进行了两种方法的验证,分别比较采用两种像移补偿方法图像的清晰度。结果表明,改进式电子像移补偿法图像调制度平均值47/96大于传统像移补偿法图像调制度平均值1/3,改进式像移补偿法图像清晰度平均值为0.550 2大于传统像移补偿法图像清晰度平均值0.475 3。可以看出,改进式的像移补偿方法相对于传统TDI像移补偿方法,效果明显改善。 相似文献
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