General Solution for the Dynamic Modeling of Parallel Robots

In this paper, we present a general method to calculate the inverse and direct dynamic models of parallel robots. The models are expressed in a closed form by a single equation in which all the elements needed are expressed. The solution is given in terms of the dynamic models of the legs, the dynamics of the platform and some Jacobian matrices. The proposed method is applied in this paper on two parallel robots with different structures. Categories (2), (3).     

奇异值分解对非定常约束多体系统的动力学分析

通过对约束方程的雅可比矩阵进行奇异值分解，定义组合坐标，从拉格朗日第一类方程出发，建立了非定常约束多体系统的纯微分方程，给出了动力学数值分析的过程，最后举了一个算例。     

Design of robotic visual servo control based on neural network and genetic algorithm

A new visual servo control scheme for a robotic manipulator is presented in this paper, where a back propagation (BP) neural network is used to make a direct transition from image feature to joint angles without requiring robot kinematics and camera calibration. To speed up the convergence and avoid local minimum of the neural network, this paper uses a genetic algorithm to find the optimal initial weights and thresholds and then uses the BP algorithm to train the neural network according to the data given. The proposed method can effectively combine the good global searching ability of genetic algorithms with the accurate local searching feature of BP neural network. The Simulink model for PUMA560 robot visual servo system based on the improved BP neural network is built with the Robotics Toolbox of Matlab. The simulation results indicate that the proposed method can accelerate convergence of the image errors and provide a simple and effective way of robot control.     

面向智能电网的PCA近似法错误数据注入攻击

准确的状态估计对于维持智能电网的正常运行至关重要。论文在雅可比(Jacobian)矩阵和状态变量分布假设未知的情况下,采用主成分分析近似法(PCA-Sim)研究了错误数据注入攻击问题,从线路测量的相关性中对Jacobian矩阵进行推导,验证了错误数据注入攻击近似隐形攻击,并且结合累积分布函数(cdf)分析了所提方法的性能。通过对IEEE14配电网系统在均匀状态变量、高斯状态变量和混合状态变量条件下漏检概率与决策阈值的仿真研究,结果证实了所提方法的有效性。     

新型两转动自由度完全解耦并联机构及其特性

针对并联机构内部耦合性给其运动学和动力学分析以及控制系统的开发带来的问题,提出一种新型的两自由度转动解耦并联机构．运用约束螺旋法对机构的自由度和运动特性进行分析,通过修正的Kutzbach-Grübler公式计算出机构自由度数目;利用各构件间几何关系,求解机构位置正反解解析表达式;根据机构输入与输出参数间关系式,推导得到机构雅可比矩阵,进而依据雅可比矩阵表达式,验证了机构的解耦特性,并进而讨论了驱动输入的选择对机构奇异的影响．提出的解耦并联机构丰富了机构构型库,对进一步应用具有理论指导意义．     

Improved Image Based Visual Servoing with Parallel Robot

The position regulation problem of an eye-in-hand type of parallel robot based pointing systems (PRBPS) is considered in this paper. A fuzzy logic system is first designed to compensate for the uncertainties of the parallel robot and the uncertainty of the image Jacobian, then a hybrid controller (HC) including the image-based nonlinear controller and the adaptive supervisory fuzzy logic controller (ASFLC) is derived by using the Lyapunov direct method to realize the position regulation (PR). The stability of the closed-loop system in the Lyapunov sense is proven theoretically. The fuzzy scaling matrix is combined with the HC to improve the performance of the control system. The simulation results demonstrate that the PRBPS realizes PR with very good robustness to the parameter uncertainties, and the control input torques and settling time are reduce greatly in the case of large initial feature errors.     

面向冗余机器人实时控制的逆运动学求解有效方法

针对7自由度冗余机器人实时运动控制,对机器人逆运动学提出了一种新的求解方法.采用位姿分解方式,使7自由度冗余机器人逆运动学简化为4自由度位置逆运动学求解.在梯度投影法得到位置优化解的基础上,利用机器人封闭解公式求得一组优化解.通过对7自由度机器人仿真分析,表明了该方法的有效性.     

Demons非刚性配准算法拓扑保持性的研究

在基于配准的图像分割应用中, 拓扑保持性是非刚性图像配准算法的一个重要约束. 本文从矢量场特性出发, 分析了Demons非刚性图像配准算法导致目标拓扑改变时变形场的特点. 根据变形场特点与其雅可比行列式之间的关系, 给出了校正该算法拓扑保持性的方法. 实验表明, 改进后的变形场具有了拓扑保持性.