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相关概念视频

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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Planar Rigid-Body Motion01:22

Planar Rigid-Body Motion

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Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
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Hierarchy of Motor Control01:18

Hierarchy of Motor Control

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The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.
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Absolute Motion Analysis- General Plane Motion01:24

Absolute Motion Analysis- General Plane Motion

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Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
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Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

486
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
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Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

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When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
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相关实验视频

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Operation of the Collaborative Composite Manufacturing CCM System
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对于移动操纵器的层次运动规划方法.

Hanlin Chen1, Xizhe Zang1, Yubin Liu1

  • 1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.

Sensors (Basel, Switzerland)
|August 12, 2023
PubMed
概括
此摘要是机器生成的。

本研究介绍了一种用于移动操纵器的新型层次运动计划器. 该计划器有效地处理3D障碍物和实时操纵器重新配置,在速度和成功率方面表现优于传统方法.

关键词:
一个层次的规划者.移动操纵器移动操纵器运动规划 运动规划

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 人工智能的人工智能
  • 运动规划 运动规划

背景情况:

  • 移动操纵器需要复杂的运动规划,无论是基础还是手臂运动.
  • 实时适应动态环境和操纵器配置至关重要.
  • 现有的方法经常遇到3D障碍,或者需要大量的计算资源.

研究的目的:

  • 为移动操纵器开发一个分层的运动计划器,能够进行自主,实时的配置更改.
  • 为应对动作规划中3D障碍和计算效率所带来的挑战.
  • 与现有算法相比,提高成功率并减少计算时间.

主要方法:

  • 一个两层次的层次规划器:移动基地的全球2D路径规划和基地和操纵器的本地3D规划.
  • 用一个优化的A*算法来生成全局路径.
  • 采用基于启发式采样的算法,以实时有效,无碰撞的操纵器配置搜索.

主要成果:

  • 基于启发式采样的算法在计算时间,成功率和配置质量方面表现优于随机采样.
  • 提出的方法有效地处理3D障碍.
  • 这种方法避免了大量的内存需求,并减少了全球计划生成时间.

结论:

  • 开发的层次运动计划器为复杂的3D环境中的移动操纵器导航提供了高效和有效的解决方案.
  • 启发式采样方法显著提高了实时避免碰撞和配置规划.
  • 这种方法是传统运动规划技术的可行替代方案,提供了更好的性能和资源效率.