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相关概念视频

Collisions in Multiple Dimensions: Problem Solving01:06

Collisions in Multiple Dimensions: Problem Solving

In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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...
Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

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...
Planar Rigid-Body Motion01:22

Planar Rigid-Body Motion

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...
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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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相关实验视频

Updated: Jul 10, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

空间多向量和多刚体障碍回避规划,用于多机器人协调悬架系统.

Xiangtang Zhao1, Zhigang Zhao1, Cheng Su1

  • 1School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China.

ISA transactions
|July 15, 2025
PubMed
概括

本研究引入了一种新的多机器人系统,用于避开障碍,提高复杂工业任务的效率和安全性. 拟议的方法显著减少了轨迹长度,提高了计算速度,同时防止了碰撞.

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
  • 人工智能的人工智能

背景情况:

  • 多机器人协调悬架系统 (MCSS) 面临着重大挑战,包括动态中的强合,导致计算复杂性的高维状态空间,以及多固体系统的有限避障策略.
  • 现有的方法在动态,非凸的环境中难以实现高效的脱和实时规划,这阻碍了MCSS在工业环境中的应用.

研究的目的:

  • 为多机器人协调悬架系统 (MCSS) 开发一种有效的避障规划方法.
  • 解决多刚体系统中脱,计算复杂性和碰撞预防的挑战.
  • 提高MCSS的效率和可扩展性,用于工业应用,如起重任务.

主要方法:

  • 在一个层次搜索和步骤优化 (HSSO) 框架内提出了望远镜金字塔配置 (TPC) 和多策略喷泉启发的算法 (MGEA).
  • MGEA 结合了混乱映射初始化,Lévy 飞行,差异演化和稳定性约束来提高全球搜索能力.
  • 实施了分层的合作计划,以防止电缆纠和解多机器人运动.

主要成果:

  • 与基准算法相比,MGEA表现出优越的性能,实现了轨迹长度减少16.35%,最低健身水平提高18.60%.
  • 观察到计算速度增加了13.74%,表明效率提高.
  • 该系统在混乱的3D环境中保持零碰撞,验证了其在避开障碍物的有效性.
关键词:
层次搜索和步骤优化等级搜索.多机器人系统多机器人系统灵感来自热泉的多策略算法.规划避免障碍的规划,避免障碍.望远镜式的金字塔结构配置.

更多相关视频

Operation of the Collaborative Composite Manufacturing (CCM) System
10:09

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control
05:47

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control

Published on: August 29, 2025

相关实验视频

Last Updated: Jul 10, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Operation of the Collaborative Composite Manufacturing (CCM) System
10:09

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control
05:47

Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control

Published on: August 29, 2025

结论:

  • 拟议的TPC和MGEA为多机器人协调悬架系统提供了高效和可扩展的解决方案,特别是用于工业升降任务.
  • 该HSSO框架成功实现了多向量和多刚体避障规划.
  • 这项研究为动态非凸环境中的实时规划奠定了理论基础,推动了多机器人系统领域的发展.