In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the...In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the ABF deviates slightly from nominal base frame( NBF). Using external precision measurement,the ABF can be established only through the three dimension(3D) position of the robot's end-effector.To ensure the orthonormal constraints of rotation matrix as well as the precise solutions,Procrustes Analysis is introduced,where an optimal orthogonal matrix is solved out by the Lagrange Multiplier method and Singular Value Decomposition(SVD). Furthermore,calibration experiment on a serial 6-DOF robot is performed,where a FARO laser tracker is utilized to measure the 3D position. Finally, calibration result indicates that the positioning accuracy has been significantly improved after calibration. The calibration method is also applicable to other similar problems,such as multi-robot coordination and robot hand-eye system calibration.展开更多
The problem of self-tuning control with a two-manipulator system holding a rigid object in the presence of inaccurate translational base frame parameters is addressed. An adaptive robust neural controller is proposed ...The problem of self-tuning control with a two-manipulator system holding a rigid object in the presence of inaccurate translational base frame parameters is addressed. An adaptive robust neural controller is proposed to cope with inaccurate translational base frame parameters, internal force, modeling uncertainties, joint friction, and external disturbances. A radial basis function neural network is adopted for all kinds of dynamical estimation, including undesired internal force. To validate the effectiveness of the proposed approach, together with simulation studies and analysis, the position tracking errors are shown to asymptotically converge to zero, and the internal force can be maintained in a steady range. Using an adaptive engine, this approach permits accurate online calibration of the relative translational base frame parameters of the involved manipulators. Specialized robust compensation is established for global stability. Using a Lyapunov approach, the controller is proved robust in the face of inaccurate base frame parameters and the aforementioned uncertainties.展开更多
Performance-based seismic design(PBSD) aims to assess structures at different damage states. Since damage can be directly associated to displacements, seismic design with consideration of displacement seems to be logi...Performance-based seismic design(PBSD) aims to assess structures at different damage states. Since damage can be directly associated to displacements, seismic design with consideration of displacement seems to be logical. In this study, simple formulae to estimate the peak floor displacement patterns of eccentrically braced frames(EBFs) at different performance levels subjected to earthquake ground motions are proposed. These formulae are applicable in a PBSD and especially in direct displacement-based design(DDBD). Parametric study is conducted on a group of 30 EBFs under a set of 15 far field and near field accelerograms which they scaled to different amplitudes to adapt various performance levels. The results of thousands of nonlinear dynamic analyses of EBFs have been post-processed by nonlinear regression analysis in order to recognize the major parameters that influence the peak displacement pattern of these frames. Results show that suggested displacement patterns have relatively good agreement with those acquired by an exact nonlinear dynamic analysis.展开更多
In this paper, a Web-based Mechanical Design and A na lysis Framework (WMDAF) is proposed. This WMADF allows designers to develop web -based computer aided programs in a systematic way during the collaborative mec han...In this paper, a Web-based Mechanical Design and A na lysis Framework (WMDAF) is proposed. This WMADF allows designers to develop web -based computer aided programs in a systematic way during the collaborative mec hanical system design and analysis process. This system is based on an emerg ing web-based Content Management System (CMS) called eXtended Object Oriented P ortal System (XOOPS). Due to the Open Source Status of the XOOPS CMS, programs d eveloped with this framework can be further customized to satisfy the demands of the user. To introduce the use of this framework, this paper exams three differ ent types of mechanical design and analysis problems. First, a repetitive design consideration and calculation process is transferred into WMADF programs to gai n efficiency for wired collaborative team. Second, the considered product solid model is created directly through the use of XOOPS program and Microsoft Compone nt Object Model (COM) instances. To the end of the paper, an example linked with ANSYS is used to indicate the possible application of this framework.展开更多
A procedure is proposed whereby input and hysteretic energy spectra developed for single-degree-of-freedom （SDOF） systems are applied to multi-degree-of-freedom （MDOF） steel moment resisting frames. The proposed p...A procedure is proposed whereby input and hysteretic energy spectra developed for single-degree-of-freedom （SDOF） systems are applied to multi-degree-of-freedom （MDOF） steel moment resisting frames. The proposed procedure is verified using four frames, viz., frame with three-, five-, seven- and nine-stories, each of which is subjected to the fault- normal and fault-parallel components of three actual earthquakes. A very good estimate for the three- and five-story frames, and a reasonably acceptable estimate for the seven-, and nine-story frames, have been obtained. A method for distributing the hysteretic energy over the frame height is also proposed. This distribution scheme allows for the determination of the energy demand component of a proposed energy-based seismic design （EBSD） procedure for each story. To address the capacity component of EBSD, a story-wise optimization design procedure is developed by utilizing the energy dissipating capacity from plastic hinge formation/rotation for these moment frames. The proposed EBSD procedure is demonstrated in the design of a three-story one-bay steel moment frame.展开更多
基金Sponsored by the Applied Major Research Program of Science and Technology Commission Foundation of Beijing(Grant No.141100003514003)
文摘In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the ABF deviates slightly from nominal base frame( NBF). Using external precision measurement,the ABF can be established only through the three dimension(3D) position of the robot's end-effector.To ensure the orthonormal constraints of rotation matrix as well as the precise solutions,Procrustes Analysis is introduced,where an optimal orthogonal matrix is solved out by the Lagrange Multiplier method and Singular Value Decomposition(SVD). Furthermore,calibration experiment on a serial 6-DOF robot is performed,where a FARO laser tracker is utilized to measure the 3D position. Finally, calibration result indicates that the positioning accuracy has been significantly improved after calibration. The calibration method is also applicable to other similar problems,such as multi-robot coordination and robot hand-eye system calibration.
基金supported by the National Natural Science Foundation of China(No.51675470)the National Key R&D Program of China(No.2017YFB1301203)the Fundamental Research Funds for the Central Universities,China(No.2017QNA4001)
文摘The problem of self-tuning control with a two-manipulator system holding a rigid object in the presence of inaccurate translational base frame parameters is addressed. An adaptive robust neural controller is proposed to cope with inaccurate translational base frame parameters, internal force, modeling uncertainties, joint friction, and external disturbances. A radial basis function neural network is adopted for all kinds of dynamical estimation, including undesired internal force. To validate the effectiveness of the proposed approach, together with simulation studies and analysis, the position tracking errors are shown to asymptotically converge to zero, and the internal force can be maintained in a steady range. Using an adaptive engine, this approach permits accurate online calibration of the relative translational base frame parameters of the involved manipulators. Specialized robust compensation is established for global stability. Using a Lyapunov approach, the controller is proved robust in the face of inaccurate base frame parameters and the aforementioned uncertainties.
文摘Performance-based seismic design(PBSD) aims to assess structures at different damage states. Since damage can be directly associated to displacements, seismic design with consideration of displacement seems to be logical. In this study, simple formulae to estimate the peak floor displacement patterns of eccentrically braced frames(EBFs) at different performance levels subjected to earthquake ground motions are proposed. These formulae are applicable in a PBSD and especially in direct displacement-based design(DDBD). Parametric study is conducted on a group of 30 EBFs under a set of 15 far field and near field accelerograms which they scaled to different amplitudes to adapt various performance levels. The results of thousands of nonlinear dynamic analyses of EBFs have been post-processed by nonlinear regression analysis in order to recognize the major parameters that influence the peak displacement pattern of these frames. Results show that suggested displacement patterns have relatively good agreement with those acquired by an exact nonlinear dynamic analysis.
文摘In this paper, a Web-based Mechanical Design and A na lysis Framework (WMDAF) is proposed. This WMADF allows designers to develop web -based computer aided programs in a systematic way during the collaborative mec hanical system design and analysis process. This system is based on an emerg ing web-based Content Management System (CMS) called eXtended Object Oriented P ortal System (XOOPS). Due to the Open Source Status of the XOOPS CMS, programs d eveloped with this framework can be further customized to satisfy the demands of the user. To introduce the use of this framework, this paper exams three differ ent types of mechanical design and analysis problems. First, a repetitive design consideration and calculation process is transferred into WMADF programs to gai n efficiency for wired collaborative team. Second, the considered product solid model is created directly through the use of XOOPS program and Microsoft Compone nt Object Model (COM) instances. To the end of the paper, an example linked with ANSYS is used to indicate the possible application of this framework.
文摘A procedure is proposed whereby input and hysteretic energy spectra developed for single-degree-of-freedom （SDOF） systems are applied to multi-degree-of-freedom （MDOF） steel moment resisting frames. The proposed procedure is verified using four frames, viz., frame with three-, five-, seven- and nine-stories, each of which is subjected to the fault- normal and fault-parallel components of three actual earthquakes. A very good estimate for the three- and five-story frames, and a reasonably acceptable estimate for the seven-, and nine-story frames, have been obtained. A method for distributing the hysteretic energy over the frame height is also proposed. This distribution scheme allows for the determination of the energy demand component of a proposed energy-based seismic design （EBSD） procedure for each story. To address the capacity component of EBSD, a story-wise optimization design procedure is developed by utilizing the energy dissipating capacity from plastic hinge formation/rotation for these moment frames. The proposed EBSD procedure is demonstrated in the design of a three-story one-bay steel moment frame.
