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51.
How to Control Robots Interacting with Dynamic Environment 总被引:7,自引:0,他引:7
Miomir Vukobratović 《Journal of Intelligent and Robotic Systems》1997,19(2):119-152
The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments. 相似文献
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泡沫铝的动态压缩性能和吸能性研究 总被引:9,自引:0,他引:9
通过测量泡沫铝在动态和准静态压缩条件下的应力 -应变曲线 ,研究了泡沫铝的准静态和动态压缩行为以及不同应变条件下的吸能性 ,并对其应变率效应进行了分析。结果表明 ,在高应变速率和准静态压缩下 ,泡沫铝的σ -ε曲线均表现出弹性变形段、平缓段和密实段三阶段特征 ;泡沫铝的压缩性能具有明显的应变速率敏感性 ,随应变速率的提高 ,流动应力上升 ,吸能性升高 相似文献
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采用美国PDI公司开发的PDI-S软件,对不同缺陷基桩的反射波法低应变动测曲线进行数值模拟,对动测曲线的特征进行归纳与总结,以便在解释反射波法曲线时作为参考与借鉴,提高基桩质量检测的可靠度。 相似文献
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Stefan Kasapis 《International Journal of Food Science & Technology》2002,37(4):403-413
The structural properties of mixtures of pectin, oxidized starch and glucose syrup were investigated using small deformation dynamic oscillation. In the absence of added calcium, preparations of low methoxy pectin with glucose syrup formed viscous solutions, which remained crystal-free at subzero temperatures. Samples of oxidized starch and glucose syrup, on the other hand, exhibited solid-like behaviour because of the crystalline nature of the amylose-like helices. Mixtures of the two polysaccharides with the co-solute clearly showed phase inversion from liquid to solid-like behaviour with increasing amounts of starch in the formulation. The transformation was reflected in the textural properties of samples, which varied from thick solutions to firm gels. The viscoelasticity of the system was modified further by the introduction of high methoxy pectin. Preparations of high methoxy pectin and glucose syrup formed rubbery gels whose amorphous nature underwent a glass transition during cooling. 相似文献
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本文介绍一种齿轮动态加载试验规范及技术要求,论述了运用电液比例控制技术所设计的液压加载系统原理及其使用效果,并简述由此构造的液力测功装置的原理与应用前景。 相似文献
60.
Shu-Chu Ren Nelson N. Hsu Donald G. Eitzen 《Journal of research of the National Institute of Standards and Technology》2002,107(5):445-473
Pulsed ultrasonic techniques can be and have been used to examine the interface conditions of a bonded structure. To provide a theoretical basis for such testing techniques we model the structure as a layer on top of a half-space, both of different elastic properties, with various interface bonding conditions. The exact dynamic Green’s tensor for such a structure is explicitly derived from the three-dimensional equations of motion. The final solution is a series. Each term of the series corresponds to a successive arrival of a “generalized ray” and each is a definite line integral along a fixed path which can be easily computed numerically. Willis’ method is used in the derivation. A new scheme of automatic generation of the arrivals and ray paths using combinatorial analysis, along with the summation of the corresponding products of reflection coefficients is presented. A FORTRAN code is developed for computation of the Green’s tensor when both the source and the detector are located on the top surface. The Green’s tensor is then used to simulate displacements due to pulsed ultrasonic point sources of known time waveform. Results show that the interface bonding conditions have a great influence on the transient displacements. For example, when the interface bonding conditions vary, some of the first few head waves and regular reflected rays change polarities and amplitudes. This phenomenon can be used to infer the quality of the interface bond of materials in ultrasonic nondestructive evaluation. In addition the results are useful in the study of acoustic microscopy probes, coatings, and geo-exploration. 相似文献