基于插值多尺度熵与模糊C-均值的滚动轴承故障诊断

多尺度熵是一种有效的衡量时间序列复杂性的方法。为了克服多尺度熵粗粒化过程遗漏特征信息的问题,提出了一种基于三次样条插值时间序列的插值多尺度熵算法。该方法首先通过三次样条插值时间序列代替原粗粒化过程,再计算各个尺度下的样本熵。通过分析仿真信号将提出的方法与原多尺度熵方法进行对比,结果表明了方法的有效性和优越性。在此基础上,提出一种基于插值多尺度熵与模糊C-均值的滚动轴承故障诊断方法。最后,将提出的故障诊断方法应用于滚动轴承的试验数据分析。结果表明,所提出的方法比基于MSE的故障诊断方法识别率更高。     

双臂空间机器人协调运动的模糊基函数网络控制

该文研究了在本体位置不受控、姿态受控的情况下,漂浮基双臂空间机器人系统惯性空间协调运动的轨迹跟踪问题。针对存在外部扰动和未知系统惯性参数的情况,设计了一种基于模糊基函数网络的自适应调节控制方案。用模糊基函数网络对双臂空间机器人系统建模,利用鲁棒技术处理建模误差和外部扰动在内的不确定性。所提控制方案的特点是:不需要动力学方程中的惯性参数符合线性规律,也无需预知系统的惯性参数;同时可以利用学习规则在线自适应调节模糊基函数网络的所有权值和参数,因此控制方案是灵活的。该文稳定性分析证明了控制方案的全局稳定性和良好的轨迹跟踪性能。仿真算例表明了该方案能有效地控制双臂空间机器人的本体姿态和末端爪手协调地跟踪期望的运动轨迹。     

基于并联机器人的块状食品包装定位方法

目的为提高包装过程中并联机器人定位精度。方法基于自抗扰控制设计一种机器人末端执行器定位方法。在传统并联机器人结构的基础上配置2台工业相机。根据双目立体视觉检测原理来确定块状食品在生产线上具体位置。为避免干扰因素降低机器人末端执行器抓取精度,设计一种自抗扰控制器,主要包括跟踪微分器、非线性反馈器、扩张状态观测器。最后,搭建实验平台并进行相关验证。结果实验结果表明,实际位置与抓取位置之间偏差距离的最大值为0.3 mm;平均误差只有0.20 mm。所设计自抗扰控制器与PID控制器相比,响应时间仅增加了1%,平均抓取精度却大幅提高。结论所述基于并联机器人的块状食品包装定位方法可使末端执行器在非常短的时间内到达指定位置;运动过程稳定、可靠,不会出现振动现象,可确保抓取精度。     

Precision measurement and compensation of kinematic errors for industrial robots using artifact and machine learning

Industrial robots are widely used in various areas owing to their greater degrees of freedom (DOFs) and larger operation space compared with traditional frame movement systems involving sliding and rotational stages. However, the geometrical transfer of joint kinematic errors and the relatively weak rigidity of industrial robots compared with frame movement systems decrease their absolute kinematic accuracy, thereby limiting their further application in ultraprecision manufacturing. This imposes a stringent requirement for improving the absolute kinematic accuracy of industrial robots in terms of the position and orientation of the robot arm end. Current measurement and compensation methods for industrial robots either require expensive measuring systems, producing positioning or orientation errors, or offer low measurement accuracy. Herein, a kinematic calibration method for an industrial robot using an artifact with a hybrid spherical and ellipsoid surface is proposed. A system with submicrometric precision for measuring the position and orientation of the robot arm end is developed using laser displacement sensors. Subsequently, a novel kinematic error compensating method involving both a residual learning algorithm and a neural network is proposed to compensate for nonlinear errors. A six-layer recurrent neural network (RNN) is designed to compensate for the kinematic nonlinear errors of a six-DOF industrial robot. The results validate the feasibility of the proposed method for measuring the kinematic errors of industrial robots, and the compensation method based on the RNN improves the accuracy via parameter fitting. Experimental studies show that the measuring system and compensation method can reduce motion errors by more than 30%. The present study provides a feasible and economic approach for measuring and improving the motion accuracy of an industrial robot at the submicrometric measurement level.The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-022-00400-6     

拟合激光陀螺数学模型的方法研究…

在分析激光陀螺的数学模型和三欠样条函数拟合原理的基础上,针对俄罗斯某型低精度激光陀螺实际输入－输出特性曲线的数据,应用三次样条合方法进行分析处理,推导出了适用于非线性工作范围误差补偿且实际陀螺特性的数学模型。本文所提方法可用于工作区线性化较差,工作精度低的激光陀螺的精度补偿。     

融合加权SVD改进算法的工业机器人运动学标定

针对环境或人为因素引入的测量粗差对测量坐标系和机器人基坐标系的转换存在较大影响的问题,对奇异值分解(SVD)算法进行了改进,并将其应用于机器人运动学标定中。以ABB-IRB2600型机器人为研究对象,建立修正型D-H(MD-H)运动学模型和误差模型;通过激光跟踪仪测量得到机器人末端靶球位置坐标,在SVD算法中,根据补偿前位置误差大小对测量数据重新分配权重,转换测量坐标系和机器人基坐标系;使用Levenberg-Marquart(L-M)算法进行了误差参数辨识,并在Matlab中对机器人25个运动学参数进行了仿真补偿。仿真和实验结果表明,加权SVD算法稳定性更优,能够减小测量粗差影响,经标定后机器人的平均绝对误差降低了65.10%,均方根误差降低了65.85%,其绝对定位精度得到了明显提高。     

Phase error correction for fringe projection profilometry by using constrained cubic spline

In fringe projection profilometry, the nonlinear intensity response caused by the c effect of a digital projector results in periodic phase error and therefore measurement error. Previous error correction methods are largely based on the calibration of single c value. However, in practice, it is difficult to accurately model the full range of the intensity response with a one-parameter c function. In this paper, a compensated intensity response curve is generated and fitted with the constrained cubic spline. With the compensated curve, the full range of the nonlinear intensity response can be corrected and the periodic phase errors can be removed significantly. Experimental results on a flat board confirm the average root mean square (RMS) of the phase error which can be reduced to at least 0.0049 rad.     

Cubic spline boundary elements

The boundary integral method is formulated and applied using cubic spline interpolation along the boundary for both the geometry and the primary variables. The cubic spline interpolation has continuous first and second derivatives between elements, thus allowing the accurate calculation of derivative dependent functions (on the boundary) such as velocity in potential flow. The spline functions also smooth the geometry and can represent curved sections with fewer nodes. The results of numerical experiments indicate that the accuracy of the boundary integral equation method is improved for a given number of elements by using cubic spline interpolation. It is, however, necessary to use numerical quadrature. The quadrature slows calculation and/or degrades the accuracy. The numerical experiments indicate that most problems run faster for a given accuracy using linear interpolation. There seems to be a class of problems, however, which requires higher order interpolation and/or continuous derivatives for which the cubic spline interpolation works much better than linear interpolation.     

基于容量比较法的卧式罐容量表计算方法研究

在卧式罐容量计量容量比较法原理的基础上,讨论了由有限的卧式罐离散(V-H)点计算出全高度量程范围内任意点的容积值的4种计算方法。并以30m³卧式罐为对象进行了试验研究。试验结果表明:Lagrange插值方法、分段线性插值方法、三次多项式拟合方法和三次样条插值方法在中间液位区间的计算结果较为一致;三次样条插值方法计算结果与试验值偏差最小,最大偏差值23.0L,而且稳定性较好;Lagrange插值方法、分段线性插值方法和三次多项式拟合方法在低液位高度或高液位高度的偏差比中间液位区间的计算偏差大;但是在低液位高度和高液位高度区间,由于多节点时边沿振荡原因,Lagrange插值方法的计算偏差大于三次样条插值方法。     

样条函数在激光跟踪仪测距补偿中的应用

激光跟踪仪测距精度取决于激光干涉仪(IFM)和激光绝对测距仪(ADM)的精度,就目前技术水平而言,IFM测距精度远高于ADM测距精度,因此需要对ADM测距误差进行修正。本文采用三次样条函数对激光跟踪仪全程ADM测距误差进行修正,并与线性误差修正方法进行了对比,结果显示三次样条函数能够更好地拟合误差曲线,改善修正后残余误差的均方差,均方差为0.007 mm,优于最小二乘直线拟合,从而提高激光跟踪仪测距精度和空间测量精度。     

Motion error correction of range migration algorithm for aircraft spotlight SAR imaging

Since a motion error is the main phase error source in the aircraft synthetic aperture radar, several reconstruction algorithms with motion error correction have been developed. An efficient motion compensation via the known motion error information is proposed. Specifically, the proposed method is based on the subarea technique with shifting and the subaperture technique via the mean values of the motion errors. Then, using the extended Taylor approximation and the principle of the stationary phase, the motion errors are corrected through compensation at the mixing stage and the Stolt interpolation stage.     

基于模糊控制的足球机器人底层动作优化

 足球机器人是集成视觉技术、通讯技术、伺服控制技术、决策对象等多种技术的综合系统,是当前人工智能和机器人领域的研究热点之一． 根据足球机器人的运动学模型,考虑到系统的时滞性、非线性等特点,提出模糊控制并优化机器人底层动作的方法． 详细介绍了足球机器人模糊控制系统的设计过程,并通过仿真验证了该方法的可行性．     

基于几何参数标定的串联机器人精度提升

为了提升串联机器人绝对定位精度,提出了基于零参考模型(ZRM)的机器人几何参数标定方法。建立了包含方向矢量和连接矢量的机器人零参考模型;针对模型特点,利用改进遗传算法(IGA)优化求解零位方向分量和位置方向分量,给出了用IGA标定几何参数目标函数值计算方法及求解几何参数误差的具体步骤。通过对ER10L-C10工业机器人不同测点下仿真标定及实测研究结果表明:IGA方法能够快速对机器人ZRM的几何参数实现标定,当标定点设定为50个左右时,标定后的机器人在测试点的精度提升泛化能力较好,对ER10L-C10机器人在整个工作空间内实测标定其末端绝对定位精度提升约90%,该方法适于在有高定位精度要求的串联机器人中推广应用。     

基于自适应模糊补偿的不确定性机器人CNF控制

为解决不确定性因素对机器人系统的影响,实现不确定性机器人系统准确跟踪参考输入的能力,研究了自适应模糊控制和组合非线性反馈(CNF)控制相结合的策略。提出了一种基于自适应模糊补偿的机器人CNF控制器。核心是将系统的不确定性利用自适应模糊控制进行在线逼近,作为CNF控制器的补偿项,充分利用两种控制方法的优势,降低不确定性因素对系统性能的影响。通过反馈线性化技术与Lyapunov理论,证明了闭环系统的收敛性;最终仿真结果证实了此方法的有效性。     

混合插值的ESMD在电机轴承故障特征提取的应用

针对极点对称模态分解(ESMD)处理电机轴承故障信号存在局部模态混叠的问题,提出了一种基于有理Hermite插值和三次样条插值改进的ESMD电机轴承故障特征提取方法。由于首先有理Hermite插值可通过控制形状参数来调节插值曲线,将固有模态分量(IMF)的瞬时频率带宽作为的优化准则,采用有理Hermite插值与三次样条插值相结合,既避免了插值耗时过长,又考虑了插值曲线的平滑性;采用自适应权重调整的粒子群算法(PSO)确定每阶IMF的最优形状控制参数,避免陷入局部最优,使得IMF最优,从而提高ESMD自适应性和分解精度。试验结果表明,该方法可有效提取电机轴承故障特征,并有效缓解ESMD模态混叠,与其它方法相比分解效果更好。     

一类加权有理三次样条的区域控制

将插值曲线约束于给定的区域之内是曲线形状控制中的重要问题.本文利用分母为二次的有理三次插值样条和仅基于函数值的有理三次插值样条构造了一类加权有理三次插值样条函数,这类新的插值样条中含有权系数,因而增加了处理问题的灵活性,给约束控制带来了方便.给出了将该种插值曲线约束于给定的折线、二次曲线之上、之下或之间的充分条件及将其约束于给定折线之上、之下或之间的充分必要条件.证明了满足约束条件的加权有理样条的存在性.     

Errors in cubic spline interpolation

Summary This paper deals with the problem of finding error bounds for cubic spline interpolation of functions of the classC ⁴[a, b], andC ⁵[a, b], by examining a relationship between cubic spline interpolation and piecewise cubic Hermitian interpolation.The method also gives an indication of what happens, in the case of almost uniform meshes, especially if the approximated function is in the classC ⁵[a, b].Comparison is made with recent work carried out by K. E. Atkinson [3], in dealing with natural cubic spline interpolation.     

Passive navigation from image sequences by use of a volumetric approach

The paper describes a volumetric approach to depth estimation for robot navigation with use of only an approximately calibrated translating camera. Our approach is related to techniques for photo-realistic object reconstruction but with the emphasis on issues associated with navigation. The technique performs three-dimensional matching by a process of image interpolation and can adjust for errors in camera position. The reconstruction is achieved from a small angular range of scene views, and the technique is demonstrated to be insensitive to large errors in the camera positions. The ability to correct for more critical errors such as the camera orientation is shown to significantly improve the algorithm's performance. Our technique is demonstrated on real image sequences and compares favorably with techniques based on optical flow.     

基于对偶四元数的单目视觉目标位姿测量

目的在机器人视觉应用领域中,为控制机器人能够完成焊接、搬运、跟踪等任务,需要确定摄像机与目标之间的相对位姿关系,提出一种目标位姿测量方法。方法利用单摄像机获取目标特征,坐标变换参数表示为对偶四元数的形式,同时计算旋转矩阵和平移向量,构建位置向量和方向向量的测量值与模型值之间的误差方程,利用Hopfield神经网络实现拉格朗日乘子法,求解目标位姿最优解。结果利用Matlab软件平台,选择SVD,DQ以及文中算法进行比较,仿真实验结果表明,基于Hopfield神经网络和对偶四元数的位姿测量算法计算出的位姿参数误差最小。随着测量点数量的增大,文中提出的算法精度更高。结论对偶四元数同时求解位姿变换矩阵的旋转分量和平移分量,可消除计算误差,基于Hopfield神经网络和拉格朗日乘子法,可快速准确地计算,并收敛至目标位姿最优解。     

基于激光跟踪仪的协作机器人标定算法与实验研究

为了提高机器人末端绝对定位精度,提出了一种基于激光跟踪仪测量的机器人几何参数标定方法,对协作机器人的参数误差进行辨识和补偿.为了避免机械臂相邻两个轴平行时会出现奇异性的情况,采用了MDH参数法建立误差模型;为了把测量数据定义在同一坐标轴上,结合了机器人工具坐标系转换(靶球中心点相对于机器人末端坐标系的平移变换);进而用...