Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to ...
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Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.
Digital technology has brought drastic changes to the design methods, values, and design tools of neighbourhood public spaces, thereby changing the behavioural patterns of people in neighbourhood public spaces. Theref...
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Digital technology has brought drastic changes to the design methods, values, and design tools of neighbourhood public spaces, thereby changing the behavioural patterns of people in neighbourhood public spaces. Therefore, people's requirements for urban public space have changed and are characterised by high efficiency, high precision, humanization, and high aesthetics. Scholars at home and abroad have conducted many studies and practises on the application of digital technology to neighbourhood design, but there is a lack of systematic research practises on the use and analysis of multi-faceted data. This paper selects the Xiaomi Beijing Changping II design project, simulates and deduces the physical environment of its location, simulates the results of the natural environment by using the data of sunshine, wind, and water catchment in the physical environment, and then simulates the crowd's action paths by combining kinetic algorithms and ant algorithms to optimise the design methods, processes, and results of the neighbourhood public space on the basis of this research. The research team designed five groups of programmes for the project based on different design methods and processes, and conducted a comparative study of the five groups of programmes through the hierarchical analysis method in conjunction with the fuzzy comprehensive evaluation method, as well as discussing them in conjunction with the actual bidding results of the project and the scoring conclusions of the industry experts. The results of the study show that the design scheme for neighbourhood public space based on physical environment simulation and crowd simulation is better able to take advantage of the analytical and predictive advantages of the technology and unite with the designer's aesthetic interests, balancing the data objectivity and aesthetic subjectivity in the design process. The method is more likely to achieve a design solution that combines systematicity, foresight, rationality
Spatial vectors are six-dimensional (6-D) vectors that describe the motions of rigid bodies and the forces acting upon them. In Part 1, we saw how spatial vectors can simplify the process of expressing and analyzing t...
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Spatial vectors are six-dimensional (6-D) vectors that describe the motions of rigid bodies and the forces acting upon them. In Part 1, we saw how spatial vectors can simplify the process of expressing and analyzing the dynamics of a simple rigid-body system. In this tutorial, we shall examine the application of spatial vectors to various problems in robot kinematics and dynamics. To demonstrate that spatial vectors are both a tool for analysis and a tool for computation, we shall consider both the mathematical solution of a problem and the computer code to calculate the answer.
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