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为保证全向轮机器人在移动过程中所捕获到的目标对象能够完全符合理想目标设定条件,准确追踪目标节点的运动行为,设计基于关联规则挖掘的全向轮移动机器人目标跟踪控制系统;根据CAN主控框架的部署形式,按需连接核心管控电路与I/O跟踪模块;分别以转向控制器、速度控制器为例,完善全向轮控制结构的物理作用能力,实现机器人目标跟踪控制系统的硬件设计;在此基础上,定义频繁项集合,按照具体的关联规则特征描述结果,确定挖掘程序指令的执行能力,得到准确的关联离散度指标计算结果,实现控制系统的关联规则挖掘,再联合相关硬件设备结构,完成基于关联规则挖掘的全向轮移动机器人目标跟踪控制系统设计;分析对比实验结果可知,随着关联规则挖掘控制系统的应用,全向轮机器人在移动过程中所捕获到的目标对象能够将理想目标完全包含在内,机器人目标跟踪结果准确,可以辅助全向轮移动机器人更加准确地追踪目标节点的运动行为,符合实际应用需求。 相似文献
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协同虚拟现实技术具有广泛的应用背景,文中以全方位轮椅为应用对象,探讨虚拟现实技术的应用.结合Mecanum轮、连续切换轮、锥滚轮这三种全向轮的运动原理与排布方式,分析了轮椅的运动学关系.在轮椅三维Pro/E模型的基础上,利用虚拟现实建模语言(VRML)对全方位轮椅进行实时定制和仿真,通过操作定制控制台可以实现零件颜色的改变和轮椅部件的替换.运动仿真控制台可以实现轮椅的直走、横走、斜走以及原地打转等运动方式的仿真.这样用户能参与到轮椅的定制设计中,得到符合自己要求的轮椅,同时对全方位轮椅的特殊运动功能有了更加深刻和形象的认识. 相似文献
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本文介绍基于多传感器信息系统的三轮全向机器人的研究,建立了机器人三轮全向移动模型,底盘的三个全向轮呈120。分布,可实现机器人在二维平面内的任意方向移动;设计了多传感器信息系统,通过陀螺仪实现机器人的位姿信息获取,通过双编码器的正交模型实现机器人的位移信息获取,通过机器视觉实现目标物体的甄别,最后给出机器人识别篮球的案例实验结果。 相似文献
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轮子是人类的一项伟大发明,轮式移动系统为人类的生产和生活带来了极大便利,机器人采用轮式移动系统是一个十分重要的发展方向。为克服普通轮子对复杂地形适应性不足的问题,研究者们在轮子与行驶表面的吸附方式、轮子自身的几何形态、行驶过程中的转向方式等方面进行了探索。在轮子将滑动摩擦转变为滚动摩擦这一移动机理的基础上,针对崎岖地形翻越、垂立壁面爬升、地面全向移动等场景要求,该文提出了三模式变形轮、磁吸附轮、变参数全向轮等 3 类新型轮子结构,及其相应的轮式移动结构;通过连杆机构实现了三模式变形轮在圆轮模式、爪模式、勾模式之间的切换和机器人的向越障;通过磁吸附轮结构和被动三自由度悬架,使全部轮子始终贴合壁面,实现了机器人的壁面行驶;通过空间机构调节辊子安装角参数,使轮子摩擦力方向受控,保障了机器人的全向行驶;通过样机搭建和实验研究,验证了该文所提创新设计的可行性。 相似文献
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为提高机器人移动的灵活性和机动性,使机器人到任意位置均沿直线行走并改变姿态,需在传统的两轮驱动底盘上增加驱动轮,文章主要针对四轮驱动全向底盘的控制方法进行研究;文章对四轮驱动全向底盘进行运动学分析并建模,得到了控制系统传递函数,并进仿真验证;对四轮驱动全向底盘进行了动力学建模,分析了如何避免出现“打滑”现象;导航方式采用了经济、精度较高的全向码盘导航方式;控制上采用闭环控制,加入前置探测点和超前校正环节,并且考虑了实际过程中机体的加减速问题;实验结果表明,提出的控制方法可以使四轮驱动全向底盘实现预设功能,并且具有较高的控制精度,研究内容对机器人的灵活移动有着十分重要的意义. 相似文献
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Yu. G. Martynenko I. E. Mitrofanov E. V. Pis’mennaya A. M. Formal’skii 《Journal of Computer and Systems Sciences International》2011,50(2):325-335
A mobile robotic platform with four driving swivel wheels, whose centers are situated at the vertices of a rectangle, is considered. Each of the wheels can rotate about its horizontal axis in a common way, and the plane of the wheel situated in a fork can turn with respect to the platform about the perpendicular axis. These turns and rotations of four wheels are performed using eight drives. The platform can move, perform translational and rotational motion without wheel slip if and only if the fork orientation and wheel angular velocities satisfy certain relations. This study presents the relations to which program values of fork turning angles and wheel angular velocities calculated for automatic control of the platform motion or operator control should satisfy. The scheme of supervisory (with an operator) control of the platform motion and its virtual analogue are described. 相似文献
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A systematic, unified kinematic analysis for manipulator arms mounted to mobile platforms is presented. The differential kinematics for the composite system is used, along with an extended definition of manipulability, to generate a design tool for this class of systems. An example is presented in which a 3 DOF anthropomorphic manipulator is mounted on a platform powered by two independent drive wheels. Scaled manipulability ellipses are used to visualize the effect of manipulator mounting position on the overall mobility of the system. Given information about the intended tasks of the mobile manipulator, conclusions may be drawn as to the most appropriate mounting site. For the tasks which motivated this research, automated highway construction and maintenance, it was concluded that the manipulator base should be near the axles of the drive wheels and far from the centerline of the platform. © 2000 John Wiley & Sons, Inc. 相似文献
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以往移动可信平台设计均以终端设计为主,不适用于移动物联网条件下,提出一种基于Android系统的嵌入式可信移动网关,结合可信平台模块( TPM)芯片与Android系统特有特性,设计新的可信模块。本设计提出 Android 系统下软硬件系统架构以及每个模块的详细功能。根据设计利用 Atmel AT97SC3205T芯片对Cortex—A8 S5PV210平台可信改造,并在Android系统上开发网关应用程序。根据此平台已经开发ZigBee应用程序,此设计有较高的商业价值。 相似文献
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《Advanced Robotics》2013,27(1):73-99
Wheeled mobile robots (WMRs) consist of interconnections of many electromechanical systems. Their mechanical subsystem comprises primarily the platform and the wheel units. To formulate the kinematic model of this class of robots, we model the individual subsystems separately. The composite kinematic model of a WMR is then a coupling of the various kinematic submodels. We study WMRs with different wheels, i.e. offset wheels, centered wheels and dual-wheels. The study focuses on system mobility, which is derived using the functional matrix. We also identified the kinematic equivalence between the dual-wheel and the centered wheels, and some advantages of the dual-wheels over the centered wheels and offset wheels. Results suggest that WMRs with mobility less than 3 cannot track a trajectory with a discontinuous heading without incorporating a time delay, during which the wheel orientation should be changed. Moreover, the steering angles of WMRs equipped with steered wheels require proper coordination to avoid jamming of the drive subsystem. For design purposes, we aim at a kinetostatically robust WMR. The concept of kinetostatic isotropy is applied to find the location of the wheels with respect to the platform and their type in order to achieve isotropy. It is shown that WMRs with three conventional wheels can be made isotropic if the offset either vanishes or equals the radius of the wheel, and if the three wheels are mounted at the vertices of an equilateral triangle. 相似文献
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讨论了空间飞行器大角度机动控制实验平台的实现方法,并给出了硬件系统原理框图和软件的设计流程图;采用变结构控制算法,设计了基于反作用飞轮的大角度姿态机动控制器,并进行了不同角度下的闭环姿态机动控制实验,实验结果验证了该实验平台设计的可行性,对空间飞行器大角度姿态机动的研究提供了一个较好的实验平台. 相似文献
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基于PKI的移动OA安全模型研究 总被引:2,自引:0,他引:2
李建林 《计算机工程与应用》2006,42(8):144-147,151
文章研究了移动OA模型中的安全问题。首先,该文详细分析了目前可用于移动OA的VPN技术和CDMA1X-VPDN等技术以及基于PKI的移动OA安全模型框架,然后提出了应用于海关OA中的基于PKI的移动OA安全模型MOASM,并根据它进行了海关移动OA接入服务平台、应用服务平台的设计、应用开发平台的选择、功能设计、数据设计以及用户身份认证、访问权限控制和网络安全隔离等安全设计,并将其成功应用于海关系统。 相似文献
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《Robotics and Autonomous Systems》2014,62(4):579-590
Physical guidance is a natural interaction capability that would be beneficial for mobile robots. However, placing force sensors at specific locations on the robot limits where physical interaction can occur. This paper presents an approach that uses torque data from four compliant steerable wheels of an omnidirectional non-holonomic mobile platform, to respond to physical commands given by a human. The use of backdrivable and torque-controlled elastic actuators for active steering of this platform intrinsically provides the capability of perceiving applied forces directly from its locomotion mechanism. In this paper, we integrate this capability into a control architecture that allows users to force-guide the platform with shared-control ability, i.e., having the platform being guided by the user while avoiding obstacles and collisions. Results using a real platform demonstrate that user’s intent can be estimated from the compliant steerable wheels, and used to guide the platform while taking nearby obstacles into consideration. 相似文献
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This paper presents an adaptive robust control method for trajectory tracking and path following of an omni-directional wheeled
mobile platform with actuators’ uncertainties. The polar-space kinematic model of the platform with three independent driving
omnidirectional wheels equally spaced at 120 from one another is briefly introduced, and the dynamic models of the three
uncertain servomotors mounted on the driving wheels are also described. With the platform’s kinematic model and the motors’
dynamic model associated two unknown parameters, the adaptive robust controller is synthesized via the integral backstepping
approach. Computer simulations and experimental results are conducted to show the effectiveness and merits of the proposed
control method in comparison with a conventional PI feedback control method. 相似文献