Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversati...Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.展开更多
Jiashi and its surrounding areas are composed of many structural zones. Using the focal mechanism solutions of 59 moderately strong earthquakes in Jiashi and its surrounding areas, and combining these with the calcula...Jiashi and its surrounding areas are composed of many structural zones. Using the focal mechanism solutions of 59 moderately strong earthquakes in Jiashi and its surrounding areas, and combining these with the calculation results of system cluster and stress field inversion, we aualyzed the evolvement characteristics of the stress field for different times and different regions. The results were as follows： The earthquakes in Jiashi are mainly strike-slip. However, those of the Kalpin block are mainly reverse events, showing an obvious thrusting. The regional characteristics are different from other areas. The direction of the regional principal stress field is near NS. However, under different tectonic backgrounds, the directions of the stress fields are different. The direction of the principal compress stress is near NS in the Kashi-Wuqia area. But before and after the 3 earthquakes with M7.0, dynamic evolution from NW to NS and then to NE with time process was observed. The Kalpin block has been dominated by a consistent stress field in the NW direction for a long time. However, the direction of the stress field of the Jiashi region is NE. Since 1996, the direction of the regional stress field has changed obviously. The direction of the P axis was deflected towards the NE, and the plunge angle increased. The result shows clearly the regional characteristics and variation of the distribution pattern of the stress field in different tectonic environments.展开更多
基金the National Natural Science Foundation of China (Nos. 10672040 and10372022)the Natural Science Foundation of Fujian Province of China (No. E0410008)
文摘Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
基金The research was jointly sponsored by the State Key Science and Technology Development and Research Program of the 10th Five-Year Plan ( Grant No. 2001BA601B010303)the project of Science and Technology Department of Xinjiang Uygur Autonomous Region (Grant No.200333116) .
文摘Jiashi and its surrounding areas are composed of many structural zones. Using the focal mechanism solutions of 59 moderately strong earthquakes in Jiashi and its surrounding areas, and combining these with the calculation results of system cluster and stress field inversion, we aualyzed the evolvement characteristics of the stress field for different times and different regions. The results were as follows： The earthquakes in Jiashi are mainly strike-slip. However, those of the Kalpin block are mainly reverse events, showing an obvious thrusting. The regional characteristics are different from other areas. The direction of the regional principal stress field is near NS. However, under different tectonic backgrounds, the directions of the stress fields are different. The direction of the principal compress stress is near NS in the Kashi-Wuqia area. But before and after the 3 earthquakes with M7.0, dynamic evolution from NW to NS and then to NE with time process was observed. The Kalpin block has been dominated by a consistent stress field in the NW direction for a long time. However, the direction of the stress field of the Jiashi region is NE. Since 1996, the direction of the regional stress field has changed obviously. The direction of the P axis was deflected towards the NE, and the plunge angle increased. The result shows clearly the regional characteristics and variation of the distribution pattern of the stress field in different tectonic environments.
