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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。 相似文献
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Design of robotic visual servo control based on neural network and genetic algorithm 总被引:1,自引:0,他引:1
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. 相似文献
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Mariusz Janiak Krzysztof Tchoń 《Systems & Control Letters》2011,60(8):625-631
This paper addresses the constrained motion planning problem for nonholonomic systems represented by driftless control systems with output. The problem consists in defining a control function driving the system output to a desirable point at a given time instant, whereas state and control variables remain over the control horizon within prescribed bounds. The state and control constraints are handled by extending the control system with a pair of state equations driven by the violation of constraints, and adding regularizing perturbations. For the regularized system a Jacobian motion planning algorithm is designed, called imbalanced. Solutions of example constrained motion planning problems for the rolling ball illustrate the theoretical concepts. 相似文献
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《国际计算机数学杂志》2012,89(8):1473-1482
Efficient and robust Variable Relaxation Solver, based on pseudo-transient continuation, is developed to solve nonlinear anisotropic thermal conduction arising from fusion plasma simulations. By adding first- and/or second-order artificial time derivatives to the system, this type of method advances the resulting time-dependent nonlinear PDEs to steady state, which is the solution to be sought. In this process, only the stiffness matrix itself is involved so that the numerical complexity and errors can be greatly reduced. In fact, this work is an extension of integrating efficient linear elliptic solvers for fusion simulation on Cray X1E. Two schemes are derived in this work, first- and second-order variable relaxations. Four factors are observed to be critical for efficiency and preservation of solution's symmetric structure arising from periodic boundary condition: refining meshes in different coordinate directions, initializing nonlinear process, varying time steps in both temporal and spatial directions, and accurately generating nonlinear stiffness matrix. First finer mesh scale should be taken in strong transport direction; next the system is carefully initialized by the solution with linear conductivity; third, time step and relaxation factor are vertex-based varied and optimized at each time step; finally, the nonlinear stiffness matrix is updated by just scaling corresponding linear one with the vector generated from nonlinear thermal conductivity. 相似文献
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主要在Nyberg-Rueppel消息恢复签名方案的基础上,提出了一种基于超椭圆曲线的消息恢复签名方案,并分析了其安全性;说明了这一方案并不是简单的N-R消息恢复签名方案在超椭圆曲线上的模拟. 相似文献
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