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相关概念视频

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

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In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
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Method of Joints: Problem Solving II01:30

Method of Joints: Problem Solving II

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Consider a truss structure with frictionless joints fixed to a wall and roller support. If a force of 150 N is applied to joint A, the forces in each member of the truss can be determined using the method of joints.
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Method of Joints: Problem Solving I01:30

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The method of joints is a commonly used technique to analyze the forces in structural trusses. The method is based on the principle of equilibrium, which assumes that the truss members are connected by frictionless pins. The forces at each joint can be determined by considering the equilibrium of the forces acting on that joint. Consider a truss structure with two forces of 20 N and 10 N acting at joints C and D, respectively. The method of joints can be used to determine the forces FCB, FDC,...
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
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Space Trusses: Problem Solving01:29

Space Trusses: Problem Solving

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A space truss is a three-dimensional counterpart of a planar truss. These structures consist of members connected at their ends, often utilizing ball-and-socket joints to create a stable and versatile framework. Due to its adaptability and capacity to withstand complex loads, the space truss is widely used in various construction projects.
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一种具有高确定性的视觉伺服控制方法,用于具有灵活关节的空间操纵器.

Tao Yang1,2,3,4,5, Fang Xu1,2, Shoujun Zhao4,5

  • 1State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China.

Sensors (Basel, Switzerland)
|August 12, 2023
PubMed
概括

本研究介绍了一种新的视觉伺服算法,用于具有灵活关节的太空机器人,提高确定性并减少碰撞风险. 实验证实了其在精确的运动控制和干扰排斥方面的有效性.

关键词:
适应性控制 适应性控制确定性 确定性 确定性梯度优化优化 梯度优化空间操纵器空间操纵器视觉服务器视觉服务器

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统 控制系统
  • 太空工程 太空工程

背景情况:

  • 带有灵活关节的空间操纵器由于复杂的动态而带来控制挑战.
  • 现有的视觉伺服算法可能在中间状态中缺乏确定性,增加碰撞风险.

研究的目的:

  • 为具有灵活关节的空间操纵器引入一种新的高确定性视觉伺服算法.
  • 为了提高动力学和动态的确定性,以实现更安全,更精确的操作.
  • 通过改善中间国家控制来降低碰撞风险.

主要方法:

  • 在笛卡尔空间中使用三级运动计划器来控制中间状态并最大限度地减少位置错误.
  • 一个使用快速梯度下降的联合空间规划器来优化联合偏离中心的偏差.
  • 一个Lyapunov动态模型参考自适应控制器,用于增强反干扰能力.

主要成果:

  • 实验验证表明视觉伺服运动与计划状态之间的一致性.
  • 与中心性的平均联合偏差小于40%.
  • 在各种惯性负载干扰下,运动轨迹的一致性超过了90%.

结论:

  • 拟议的算法提高了基于位置的视觉伺服器 (PBVS) 方法的确定性.
  • 它有效地减少了空间操纵器操作中的碰撞风险.
  • 该方法在动态环境中提供了更高的精度和稳定性.