机器人的視觉信息处理

本文介绍一种机器人视觉信号处理系统。系统采用了图象模糊增强、将文字图形投影的快速傅氏变换及转动惯量作为识别特征,且根据模板匹配法实现模式识别,初步的实验结果是令人满意的。     

阀门喷涂机器人的轨迹规划与优化求解

为对特定阀门工件的外表自由曲面进行精确喷涂,提出以阀门外形尺寸和机器人本体结构为约束条件,对喷涂 机器人的工作空间进行了合理优化。利用MATLAB对多变量有约束非线性函数优化求解,得到了机器人主连杆杆长以 及相应的关节转角范围;对阀门进行了参数描述,并建立喷涂轨迹路径数学模型;通过基于ADAMS的虚拟样机建模、运 动仿真和MATLAB数值求解的相互协同和相互验证,得到了合理的关节角逆解。通过优化后的逆解进行仿真喷涂验证 了轨迹规划和优化求解方法的合理性。     

超宽带高速步进频率信号源的设计

针对现有频率合成方法难以产生同时具备宽频带和高速频率跳变能力信号的问题,提出一种基于直接数字频率合成和直接频率合成技术的混合频率合成方案.介绍了其实现原理、设计方案以及测试结果,最终实现了带宽为1.5 GHz、跳频时间小于50 ns的高速步进频率信号源,该方案实现简单,性能优越.     

Throughput Optimization in Constant Travel‐Time Dual Gripper Robotic Cells with Parallel Machines

Constant travel‐time robotic cells with a single gripper robot and with one or more machines at each processing stage have been studied in the literature. By contrast, cells with a dual gripper robot, although more productive, have so far received scant attention, perhaps due to their inherent complexity. We consider the problem of scheduling operations in dual gripper robotic cells that produce identical parts. The objective is to find a cyclic sequence of robot moves that minimizes the long‐run average time to produce a part or, equivalently, maximizes the throughput. We provide a structural analysis of cells with one or more machines per processing stage to obtain first a lower bound on the throughput and, subsequently, an optimal solution under conditions that are common in practice. We illustrate our analysis on two cells implemented at a semiconductor equipment manufacturer and offer managerial insights for assessing the potential productivity gains from the use of dual gripper robots.     

Modified branching process for the reliability analysis of complex systems: Multiple-robot systems

Current design practice is usually to produce a safety system which meets a target level of performance that is deemed acceptable by the regulators. Safety systems are designed to prevent or alleviate the consequences of potentially hazardous events. In many modern industries the failure of such systems can lead to whole system breakdown. In reliability analysis of complex systems involving multiple components, it is assumed that the components have different failure rates with certain probabilities. This leads into extensive computational efforts involved in using the commonly employed generating function (GF) and the recursive algorithm to obtain reliability of systems consisting of a large number of components. Moreover, when the system failure results in fatalities it is desirable for the system to achieve an optimal rather than adequate level of performance given the limitations placed on available resources. This paper concerns with developing a modified branching process joint with generating function to handle reliability evaluation of a multi-robot complex system. The availability of the system is modeled to compute the failure probability of the whole system as a performance measure. The results help decision-makers in maintenance departments to analyze critical components of the system in different time periods to prevent system breakdowns.     

基于TCM的差分跳频G函数设计方法

提出了一种基于网格编码调制的G函数设计方法,给出了调制编码器模型和系统模型．对在AWGN和最坏部分频带干扰下的常规跳频和差分跳频系统的性能进行了计算机仿真比较．结果表明:基于网格编码调制的G函数设计方法提高了跳频系统的性能,与网格编码调制有所不同的是G函数编码增益是通过增加频率域的冗余度获取的．     

连分式法全局预测单电台跳频码频率

在跳频电台跳频系统动力学方程未知的情形下,通过拓展多项式逼近到有理分式逼近理论,并借鉴混沌系统相空间重构思想,利用连分式法建立了跳频码频率非线性全局预测模型,用此模型重构跳频系统的动力学方程,实现对其频率特性分析,达到了预测目的。理论分析和仿真实验表明:连分式法能够有效预测一些跳频电台的频率,该方法预测精度高,并且能得到显式的预测表达式。     

壁面清洗机器人发展趋势浅析

本文综述了国内外壁面清洗机器人的研究概况 ,重点介绍了几种典型的壁面清洗机器人 ,据此对壁面清洗机器人向实用化方向发展进行了论述 ,指出了利用风扇使清洗机构吸附于壁面 ,并将行走与清洗机构相分离 ,这种设计思路的优越性     

焊接机器人轨迹规划的研究现状

为了提高焊接效率、改善焊接质量的实际生产需求,对焊接机器人空间轨迹规划的方法及研究现状进行了综述, 对关节轨迹规划法和笛卡尔轨迹规划法做出了比较,指出了轨迹规划中存在的问题即如何更便捷地实现最优轨迹规划 和多种最优算法的统一,认为空间轨迹同焊接工艺参数进行联合规划将是未来研究的重点和方向。     

固定电机驱动的平面关节型机器人无参数运动学标定

针对传统平面关节型机器人（简称SCARA）运动臂质量大的缺点,设计一种固定电机驱动的SCARA。为提高其 精度用无参数化标定的方法进行运动学标定,根据D-H方法,在空间坐标转换的基础上建立了该SCARA的数学模型, 得到杆件间相对位置关系;通过外部测量设备测出末端执行器的位姿,利用运动学正逆解解出实际位姿与理论位姿之间 驱动输入的差值,补偿到理论的输入中,得到补偿后的动平台位姿。通过计算机仿真表明该标定方法能极大提高末端执 行器的位置精度,证明了无参数化标定方法的有效性和可靠性。