6R关节型机器人运动学建模

为满足新开发的多机器人实验系统编程需要,研究了6R机器人运动学逆解问题.推导了代数逆解结果,并研究了将其用于实际控制系统时,逆解的漏解、增根和多解问题.与传统方法比较,采用了便于程序模块化的坐标系设置方式,在需要经常更换作业工具的多机器人系统中更为适用.推导过程只需2次矩阵逆乘,步骤简单.基于VC++和OpenGL技术编制了系统程序,检验了方法的有效性.以其中一个位姿为例,对比几何方法得出的结果,验证了算法的正确性.研究的结果适用于MOTOMAN-UP6和PUMA560等相似构型的所有机器人.     

Design of time-variable multivariable systems by decoupling and by the inverse

System decoupling by state variable feedback is demonstrated for the time-variable case. Conditions under which decoupling is possible are formulated and the matrices effecting decoupling are given. The inverse of a general time-variable multivariable system is also determined. By applying this inverse a new synthesis method is developed.     

Inverse system design for LPV systems using parameter-dependent Lyapunov functions

This paper addresses the design problem of gain-scheduled inverse systems (GSISs) for linear parameter-varying (LPV) systems, whose state-space matrices are represented as parametrically affine matrices, using parameter-dependent Lyapunov functions (PDLFs), and proposes a method for them via parametrically affine linear matrix inequalities (LMIs). Our method includes robust inverse system (RIS) design as a special case. For RIS design, our method theoretically encompasses the method using constant Lyapunov functions. A design example is included to illustrate our conclusions.     

Report on test matrices for generalized inverses

This paper is a comprehensive report on test matrices for the generalized inversion of matrices. Two principles are described how to construct singular square or arbitrary rectangular test matrices and their Moore-Penrose inverses. By prescribing the singular values of the matrices or by suitably choosing the free parameters test matrices with condition numbers of any size can be obtained. We also deal with test matrices which are equal to their Moore-Penrose inverse. In addition to many advices how to construct test matrices the paper presents many test matrices explicitly, in particular singular square matrices of ordern, sets of 7×6 and 7×5 matrices of different rank, a set of 5×5 matrices which are equal to their Moore-Penrose inverse and some special test matrices known from literature. For the set of 7×6 parameter matrices also the singular values corresponding to six values of the parameter are listed. For three simple parameter matrices of order 5×4 and 6×5 even test results obtained by eight different algorithms are quoted. As “by-products” the paper contains inequalities between condition numbers of different norms, representations for unitary, orthogonal, column-orthogonal and row-orthogonal matrices, a generalization of Hadamard matrices and representations of matrices which are equal to their Moore-Penrose inverse (or their inverse). All test matrices given in this paper may also be used for testing algorithms solving linear least squares problems.     

单输入最优控制系统中Q矩阵的解析解

本文通过系统的开环极点和闭环极点，给出了单输入最优控制系统中Ｑ矩阵的一种解析表达式，根据这一结果，我们不仅可以求得ＬＱ最优控制指标函数中的Ｑ矩阵，而且还可以将它作为判别ＬＱ逆问题解存在的充分条件。     

一个反求Bezier曲面控制点的算法

本文将反求m×n次Bezier曲面控制点问题,转化为求解m+1个n+1阶线性方程组和n+1个m+1阶线性方程组问题。这些线性方程组的系数矩阵是著名的Vandermonde矩阵。通过求解Vandermonde矩阵的逆矩阵,使CAD/CAM曲面造型中常常遇到的反求Bezier曲面控制点问题得到有效的解决。同时本文给出了一种求解Vandermonde矩阵的逆矩阵的方法。     

一种新的离散系统最优闭环极点配置方法

分析了LQ逆问题解的存在条件,以便合理选择期望的闭环极点,使之成为一组最优极点．提 出了一种以离散系统LQ逆问题分析为基础的新的最优控制系统设计方法,得到了开环、闭环 特征多项式系数与加权矩阵之间的解析关系,只要给定一组期望闭环极点,即可确定与 之对应的加权矩阵Q和R,从而得到一个具有指定极点的最优控制系统．     

一种新的最优极点配置方法

本文从LQ逆问题着眼提出了一种新的最优极点配置方法,推导了加权矩阵Q和R与开环特征多项式、最优闭环特征多项式之间的关系。只要给定一组期望的闭环极点,即可确定与之对应的加权矩阵Q和R,从而得到一个具有指定极点的最优控制系统。     

埃尔米特自反矩阵的广义逆特征值问题与最佳逼近问题

在振动控制中,通常用矩阵的逼近问题来校正刚度矩阵和质量矩阵,使得它们具有给定的谱约束条件.本文基于埃尔米特自反矩阵的表示定理,利用矩阵的拉直和Kronecker积,得到了埃尔米特自反矩阵广义逆特征值问题解的一般表达式.进一步,对任意给定的n阶复矩阵对,利用Moor-Penrose广义逆和逼近理论,得到了其相关最佳逼近问题解的表达式.     

Analytic inversion for a general case of certain classes of matrices

The explicit inverse and determinant of a class of matrices are presented. The class under consideration is defined by 4n ? 2 parameters, analytic expressions of which form the elements of the upper Hessenberg type inverse. These analytic expressions enable recursion formulae to be obtained, which reduce the arithmetic operations to O(n ²). The Hadamard product of two specific structures' matrices provides the class presented, special cases of which are already known classes of test matrices.     

一阶系统自伴随条件和Lagrange函数的构造

重新研究一阶系统变分法逆问题,修正了某些文献关于一阶微分方程组自伴随条件的失误,导出了把一阶系统化为自伴随形式的变换矩阵所满足的方程,列出了构造自伴随一阶系统Lagrange函数的两种方法.举例说明所得结果的应用.     

A generalized chain-scattering representation and its algebraicsystem properties

Presents a generalization of the chain-scattering representation to the case of general plants. Through the notion of input-output consistency, the conditions under which the generalized chain-scattering representation (GCSR) and the dual-generalized chain-scattering representation (DGCSR) exist are proposed. The generalized chain-scattering matrices are formulated into a general parameterized form by using the generalized inverse of matrices. Some algebraic system properties, such as the cascade structure property, the symmetry (duality) of the GCSR's and DGCSR's, are studied     

Determination of the inverse system using differential operator representation

A new method is presented for the transition from state-space representation to differential operator representation where dynamic and output matrices are the generalized matrix polynomials. Using this representation, we have obtained the minimal-order inverse of a linear multivariable proper system with an equal number of inputs and outputs. A numerical example is presented to illustrate the main results.     

一类可对称化矩阵反问题的最小二乘解

1.引言 用Rn×m,ORn×n,SRn×n及ASRn×n分别表示n×m实矩阵,n阶实正交矩阵,n阶实对称矩阵和n阶实反对称矩阵的全体组成的集合.用S⊥表示集合S的正交补,A(?)B表示A和B的正交直和.设A,B∈Rn×m,定义A与B的内积为     

超声逆散射成像问题中的截断完全最小二乘法

在超声逆散射成像问题中,由于要反复迭代求物体内部的全场与未知函数,使得方程组的系数矩阵与数据项均存在误差,将同时考虑系数矩阵和数据项均存在误差的截断完全最小二乘正则化方法运用于超声逆散射成像问题中．数值仿真结果显示,截断完全最小二乘法与传统的Tikhanov的正则化方法相比,可以提高数据的拟合程度,也即提高了成像的质量．     

Generalized inverse of polynomial matrices

Investigations are made into conditions that preserve the algebraic structure of a matrix in its generalized inverse, with particular reference to polynomial matrices. The procedure also constructs such a type of inverse, when it is found to exist.     

Inversion of polynomial matrices by interpolation

Known polynomial interpolation methods to polynomial matrices are generalized to obtain new algorithms for the computation of the inverse of such matrices. The algorithms use numerically stabilizable manipulations of constant matrices. Among the three methods investigated Lagrange's interpolation seems especially suitable for the purpose     

Less conservative robust stabilization conditions for the uncertain polynomial fuzzy system under perfect and imperfect premise matching

By introducing some slack matrices, this paper proposes less conservative robust stabilization conditions for the polynomial fuzzy system with parametric uncertainties. In the proposed methods, no inverse polynomial matrices are chosen as the decision variables so that each element of the gain and the Lyapunov matrices can be guaranteed to strictly be a polynomial function. Therefore, the hardware implementation cost of operating the proposed controller is reduced because no rational functions need to be computed. Moreover, the fuzzy controllers are designed under perfect and imperfect premise matching conditions to enhance the design flexibility. Finally, some numerical examples are given to demonstrate the effectiveness of the proposed methods.