The geometric conditions of diffuse illumination, 8 degree observation, specular light include (SCI) and specular light exclude (SCE) often be employed to measure the surface color of material with different gloss val...
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ISBN:
(纸本)9780819499646
The geometric conditions of diffuse illumination, 8 degree observation, specular light include (SCI) and specular light exclude (SCE) often be employed to measure the surface color of material with different gloss value. The SCE condition is usually realized by setting light trap on the integrating sphere. However, the structure of light trap has its negative influence on the light intensity uniformity, and can led to the inaccuracy of the test results under SCE or SCI condition. Due to the different sizes of the light trap, structures of the measurement instrument will led to inter instrument agreement among the measurement of sample with different gloss. This paper designs a measuring structure to measure the SCE and SCI results simultaneously;proposes a method to calculate the 8 degree gloss value based on the SCE and SCI test result;proposes a computing modal to modify the SCI and SCE measure result based on the 8 degree gloss value, experimental verifying is also carried out. The experimental results demonstrate the structure and modified model effectively reduce the negative influence of light trap. The inter instrument disagreement caused by the geometric dimension of different light trap is significantly decreased.
The present paper deals with design of high precision robot control systems using slip displacement sensors. The control systems under consideration have a hierarchical structure: tactical control level for planning o...
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The present paper deals with design of high precision robot control systems using slip displacement sensors. The control systems under consideration have a hierarchical structure: tactical control level for planning of robot behaviour and finalcontrol level on the basis of realization of desirable dynamic characteristics for robot gripper and robot drives. Sensor system provides the indentification of gripper mass (including object mass) using sensor information about the object slippage between robot’s gripper fingers. The slip displacement signal acts to robot control system which provides algorithm correction. It is very important for several objects with different mass or for one object with various masses during manipulated process. Structure robot control system with channel for algorithm correction and analysis of slip displacement sensors are given.
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