基于自运动的仿人七自由度机械臂逆解算法

基于七自由度(seven degrees of freedom,7-DOF)机械手臂的结构和自运动特性,提出通过对关节位置进行几何分析,求解机械臂逆运动学的方法.该方法在自运动构型的基础上,以0坐标系为其他坐标系的基系,根据同一向量在不同坐标系之间的投影特性与关节角之间存在着的对应关系,实现对七自由度机械臂逆运动学的求解.该方法能够求解出针对任一特定末端位姿的所有理论逆解.通过引入机械臂优化的二次目标,对所有理论逆解进行优化,可得最优逆解用于机械臂控制.与梯度投影法等通用算法相比,该方法具有直观简练、计算量小等优点,且不同的末端位姿求解过程互不影响,对系列性末端位姿连续求解不存在累积误差.     

Controller Design for a 3 D.O.F Haptic Interface Device

This paper presents a novel 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cables as transmission components and mass balances to eliminate the gravity effect and so on. The dynamics of haptic interface including actuating device is also studied. In order to provide operator with fidelity kinesthetic information, we design a force controller using self-learning fuzzy logic control. The simulation result verifies the effectiveness of the control method     

利用受迫振动的方法研究空气阻尼系数与压强之间的关系

以弹性摆受迫振动时幅频特性对阻尼的依赖关系为依据,借助非接触电磁激振装置和单片机,通过测量出的幅频特性曲线算出相应的阻尼系数,在密闭的环境下,改变空气的压强得到不同压强下的空气阻尼系数,从而得出空气阻尼系数于压强之间的关系.