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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...
408
Relative Motion Analysis using Rotating Axes01:25

Relative Motion Analysis using Rotating Axes

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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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Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

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Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
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Root-Locus Method01:19

Root-Locus Method

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A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
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Distributed Loads: Problem Solving01:21

Distributed Loads: Problem Solving

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Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
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Three-Dimensional Force System:Problem Solving01:30

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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.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
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Updated: Jul 13, 2025

Operation of the Collaborative Composite Manufacturing CCM System
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基于模糊动态窗口算法的移动机器人本地路径规划.

Ying Sun1,2, Wenlu Wang1,3, Manman Xu1,2

  • 1Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China.

Sensors (Basel, Switzerland)
|October 14, 2023
PubMed
概括
此摘要是机器生成的。

这项研究增强了使用模糊逻辑和全球路径集成与动态窗口方法 (DWA) 的机器人路径规划. 改进的DWA减少了规划时间和路径长度,同时确保在动态环境中安全避开障碍.

关键词:
动态路径规划 动态路径规划动态窗口算法 动态窗口算法有效的人类机器人协作协作.模糊的控制 模糊的控制移动机器人 移动机器人

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相关实验视频

Last Updated: Jul 13, 2025

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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
  • 控制系统 控制系统

背景情况:

  • 人机协作正在增加,需要先进的移动机器人路径规划.
  • 现有的动态窗口方法 (DWA) 由于固定的权重系数,与动态环境和次优途径作斗争.

研究的目的:

  • 为移动机器人路径规划优化动态窗口方法 (DWA).
  • 改进在动态环境中避免障碍和坚持全球路径.

主要方法:

  • 实现模糊控制逻辑,在DWA的评估函数中动态调整权重系数.
  • 综合全球路径信息作为地方运动规划的关键子目标站点.
  • 修改了运动规划,在避免局部障碍后保持对全球路径的坚持.

主要成果:

  • 增强的DWA减少了16%的规划时间和5%的路径长度.
  • 在各种动态环境中证明了有效的避开障碍和遵循全球路径.
  • 与传统的DWA相比,实现了更好的性能,避免了局部最佳.

结论:

  • 拟议的基于模糊逻辑的DWA显著改善了动态设置中的移动机器人导航.
  • 这种方法为现实世界的人机器人协作应用提供了更强大,更有效的解决方案.