移动焊接机器人的坡口自寻迹及算法实现

介绍了具有自寻迹功能的移动焊接机器人的系统组成，在分析移动机器人运动学模型的基础上，讨论了机器人坡口自寻迹的算法以及实现过程，最后重点分析了自寻迹过程中的轨迹规划．试验结果表明：研制的移动焊接机器人能成功地完成焊前的自寻迹任务，误差精度可控制在±1.5mm左右，满足实际焊接工程需要．     

Lyapunov definition and stability of regular or chaotic vibration modes in systems with several equilibrium positions

This paper deals with forced vibrations of two-DOF systems with more than one equilibrium positions. Such systems may be obtained by digitization of elastic post-buckling systems. A vibration mode, which is periodic at small force amplitudes and becomes chaotic as the force amplitudes are slowly increased, is selected. It is possible to formulate and solve the problem of stability of a periodic or chaotic vibration mode in a space with greater dimension using the classical Lyapunov stability definition and some calculating procedures. Instability of phase trajectories is used as a criterion of the chaotic behavior in dynamical systems. Trajectories with very close initial values are compared. Use of the Lyapunov stability definition shows mutual stability/instability of the trajectories. Calculations permit to observe an appearance and enlargement of the chaotic behavior regions. Specific results are obtained for the nonautonomous Duffing equation and pendulum system.     

The Relationship Between Inhibition of Return and Saccade Trajectory Deviations.

After presentation of a peripheral cue, a subsequent saccade to the cued location is delayed (inhibition of return: IOR). Furthermore, saccades typically deviate away from the cued location. The present study examined the relationship between these inhibitory effects. IOR and saccade trajectory deviations were found after central (endogenous) and peripheral (exogenous) cuing of attention, and both effects were larger with an onset cue than with a color singleton cue. However, a dissociation in time course was found between IOR and saccade trajectory deviations. Saccade trajectory deviations occurred at short delays between the cue and the saccade, but IOR was found at longer delays. A model is proposed in which IOR is caused by inhibition applied to a preoculomotor attentional map, whereas saccade trajectory deviations are caused by inhibition applied to the saccade map, in which the final stage of oculomotor programming takes place. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

ULTRA‐FINE TRACKING CONTROL ON PIEZOELECTRIC ACTUATED MOTION STAGE USING PIEZOELECTRIC HYSTERETIC MODEL

The tracking control accuracy of the piezoelectric actuator (PEA) is limited due to its inherent hysteresis nonlinearity. A new piezoelectric‐actuator model is synthesized based on two first‐order transfer systems in parallel with two tuned parameters determined from one experiment. Two open‐loop tracking controllers are implemented with the proposed model to compensate the hysteresis of linear positioning. Numerical simulations and experimental tests on the tracking of sinusoidal and triangular waveforms with signal frequencies ranging from 1Hz to 30 Hz are revisited and compared with the conventional Bouc‐Wen and Duhem models. Experimental results reveal that the RMS tracking error can be reduced to less than 2% of the maximum traveling distance without any feedback sensor. When a piezoelectric actuated on a two Degree‐Of‐Freedom (DOF) monolithic motion stage was employed, the RMS tracking error was 50 nm within the measured sensor accuracy.     

水合抛光加工的运动学特性

建立了旋摆驱动方式下水合平面抛光过程中工件的运动学模型,揭示了抛光盘开孔方式对蓝宝石衬底的水合抛光均匀性影响规律。旋摆驱动条件下,杉木抛光盘的开孔方式对蓝宝石衬底水合抛光加工全局均匀性和局部均匀性具有重要的作用,局部均匀性的阶梯状分布为直线、圆环和螺旋线开孔方式的共性特征。与直线、圆环开孔方式相比,在一定的参数取值条件下,螺旋线开孔方式可更好地实现水合抛光加工的全局均匀性和局部均匀性要求。     

受限柔性机器人臂的动力学分析

针对柔性机器人臂操作受作业环境约束的刚性负载，建立了系统的动力学模型。根据物体与作业环境的约束关系。推导出系统的正动力学模型。以期望的被操作物体的轨迹和物体与环境的作用力为边界条件，推导出系统的逆动力学模型，由此所求出的柔性机器人臂的输出关节角和关节驱动力矩可使机器人臂操作物体准确地实现期望轨变和与环境的作用力，并就具有三柔性杆机器人臂操作刚性负载进行了仿真，验证了方法的有效性。     

自适应Radau伪谱法自由漂浮空间机器人轨迹规划

为解决Gauss伪谱法(GPM)计算速度和求解精度之间的矛盾,在多段Radau伪谱法的基础上,提出了求解自由漂浮空间机器人(FFSM)最优路径规划问题的hp自适应Radau伪谱法(hp-RPM).与传统的Gauss伪谱法不同,该方法并不是单纯通过增加节点数量来提高精度,而是在每次迭代的过程中对整个路径分段个数和各个路径子区间的宽度进行合理的分配,并能配置每个子区间内节点的数量.通过增加分段个数可以减小子区间内所需节点个数,以此降低多项式阶数、提高计算速度.基于上述理论,首先建立了多臂FFSM系统动力学模型,并给出了运动过程中系统模型更新方法;然后将连续最优轨迹规划问题离散化,完成了hp自适应Radau伪谱法的设计;最后利用hp-RPM解决两连杆FFSM系统轨迹规划问题并进行了仿真实验.结果表明:在初始条件相同的情况下,两种方法得到的位置、速度规划曲线相似,但hp-RPM在各个节点处的误差明显低于GPM计算误差;在精度要求较高,初始节点较多的情况下,hp-RPM可以在保证精度的同时有效的提高计算速度.     

两栖仿生机器蟹的单足路径规划和生成

以两栖仿生机器蟹为对象，对步行足单足的路径规划和生成问题进行了探讨，通过对步行足足尖点路径所需满足的条件的分析，分别对处于摆动相和支撑相的步行足采用六次和五次多项式逼近的方法得出了单足路径的一般性表达式，在支撑相路径规划时，采用了相对运动法，采用这种多项式逼近的方法，结合一个算例对两栖仿生机器蟹的单足路径进行了规划和生成关节控制量的运动学反解，通过计算机仿真得到的结果验证了此种路径规划方法能够得出良好的足尖路径曲线，以及良好的起落特性，可以应用于两栖仿生机器蟹的单足控制当中。     

近地小行星探测转移轨道方案设计与优化

探测小行星转移轨道的设计不同于传统的飞行器轨道设计,由于需要更多的能量,仅依靠冲量轨道转移难于实现,针对此问题,以近地小行星3288 Seleucus为例,采用了先将飞行器递推至以2 a为周期的日心大椭圆轨道的远日点,加深空机动使之再次与地球相遇,进行借力飞行的轨道转移技术,设计了其转移轨道.为了进一步减少此探测任务在轨道转移方面所需的总的能量,采用了变分与主矢量原理推导出了总的速度增量对自由变量的偏导数,把复杂的多维非线性轨道优化问题归结为一个多维参数优化问题,并利用梯度下降法,对所设计的探测3288 Seleucus小行星的转移轨道方案进行了优化.数学仿真结果表明:这种地球借力飞行的轨道转移技术可有效的降低完成任务所需的总能量,特别是发射时所需的能量.     

基于能态近似法的再入轨迹优化设计

针对间接法中,终端积分时间在迭代前后无法相同这一问题,介绍了能态近似法在再入飞行器三维轨迹最优化问题中的应用。首先给出了再入飞行器轨迹最优化控制问题模型,其中运动方程为三自由度模型,性能指标选为飞行器再入过程中所受的总加热量最小,控制变量则为迎角和滚转角。再入飞行过程中受到加热率、过载和动压约束,终端状态约束分别为速度、航迹倾角、高度、经度和纬度约束。文中引入了比能的概念,代替时间变量作为新的积分变量,此时末端能量只由终端速度和终端高度确定,从而解决了积分终止条件的固定问题。应用共轭梯度法和乘子法对带有约束的最优控制问题进行求解。通过仿真,计算机实时生成了一条满足终端约束条件、控制量约束条件的最优化轨迹。仿真结果表明该方法具有一定的实时性,且精度较高。仿真得到的最优轨迹能够满足飞行器自主导航对轨迹实时性的要求,具有较好的工程应用前景。