In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF ...In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF or resolution of the discrete configuration space increases. So this paper presents the collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm. We made wavelet sample on the desired trajectory of the manipulator’s end-effector to do trajectory planning by use of the proposed wavelet interpolation formula, and then derived joint vectors from the trajectory information of the end-effector based on the fixed-attitude-restrained generalized Jacobian matrix of multi-arm coordinated motion, so as to control the manipulator to capture a static body along the desired collision-free trajectory. The method overcomes the shortcomings of the typical methods, and the desired trajectory of the end-effector can be any kind of complex nonlinear curve. The algorithm is simple and highly effective and the real trajectory is close to the desired trajectory. In simulation, the planar dual-arm three DOF space robot is used to demonstrate the proposed method, and it shows that the algorithm is feasible.展开更多
In recent years, the method of TQM (Total Quality Management) is widely recognized. However, contents of target entities for assessment are various, and it is very difficult to define the whole scope of TQM. On the ot...In recent years, the method of TQM (Total Quality Management) is widely recognized. However, contents of target entities for assessment are various, and it is very difficult to define the whole scope of TQM. On the other hand, it is very important to define the whole target entities of quality management about the TQM because lack of important target entities may cause significant risk of loss in future. Furthermore, target entities of TQM should correspond to needs and priority of an objective requirement and that should be based on the consideration of basic principle of quality management. In the previous study, we have proposed the “framework of new TQM” of assessment for a total quality management of organizations based on the original concept of “TQM matrix”. On the other hand, we have proposed the view point of “Three-Dimensional Unification Value Models” for an evaluation of system product. Therefore, in this paper, we propose the target entities of whole assessment of quality management of organization totally based on the consideration of “New TQM framework” and the view point of “Three-Dimensional Unification Value Models”. Also, this paper proposes the result of verification based on the result of comparison between proposed target entities of assessment and American Malcolm Baldrige Prize for Performance Excellence.展开更多
文摘In the research of path planning for manipulators with many DOF, generally there is a problem in most traditional methods, which is that their computational cost (time and memory space) increases exponentially as DOF or resolution of the discrete configuration space increases. So this paper presents the collision-free trajectory planning for the space robot to capture a target based on the wavelet interpolation algorithm. We made wavelet sample on the desired trajectory of the manipulator’s end-effector to do trajectory planning by use of the proposed wavelet interpolation formula, and then derived joint vectors from the trajectory information of the end-effector based on the fixed-attitude-restrained generalized Jacobian matrix of multi-arm coordinated motion, so as to control the manipulator to capture a static body along the desired collision-free trajectory. The method overcomes the shortcomings of the typical methods, and the desired trajectory of the end-effector can be any kind of complex nonlinear curve. The algorithm is simple and highly effective and the real trajectory is close to the desired trajectory. In simulation, the planar dual-arm three DOF space robot is used to demonstrate the proposed method, and it shows that the algorithm is feasible.
文摘In recent years, the method of TQM (Total Quality Management) is widely recognized. However, contents of target entities for assessment are various, and it is very difficult to define the whole scope of TQM. On the other hand, it is very important to define the whole target entities of quality management about the TQM because lack of important target entities may cause significant risk of loss in future. Furthermore, target entities of TQM should correspond to needs and priority of an objective requirement and that should be based on the consideration of basic principle of quality management. In the previous study, we have proposed the “framework of new TQM” of assessment for a total quality management of organizations based on the original concept of “TQM matrix”. On the other hand, we have proposed the view point of “Three-Dimensional Unification Value Models” for an evaluation of system product. Therefore, in this paper, we propose the target entities of whole assessment of quality management of organization totally based on the consideration of “New TQM framework” and the view point of “Three-Dimensional Unification Value Models”. Also, this paper proposes the result of verification based on the result of comparison between proposed target entities of assessment and American Malcolm Baldrige Prize for Performance Excellence.
