期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
基于激光测距传感器的机械臂末端位姿误差校正方法
1
作者 韩金利 尚卓 《传感技术学报》 北大核心 2025年第3期511-517,共7页
机械臂位姿校正由于误差考虑不充分,导致误差校正效果差,机械臂稳定性低,因此,提出基于激光测距传感器的机械臂末端位姿误差校正方法。该方法基于激光测距传感器原理,通过最小二乘算法,确定机械臂末端位姿误差,包括位置误差和姿态误差,... 机械臂位姿校正由于误差考虑不充分,导致误差校正效果差,机械臂稳定性低,因此,提出基于激光测距传感器的机械臂末端位姿误差校正方法。该方法基于激光测距传感器原理,通过最小二乘算法,确定机械臂末端位姿误差,包括位置误差和姿态误差,根据得到的误差,采用适应度改进的遗传算法,结合非线性传递特性分析机械臂的末端位姿,获得误差补偿,构建机械臂末端位姿的误差校正方法,实现机械臂末端位姿误差校正。经过实验证明,所提方法校正后的最高误差仅为0.13 cm,响应时间低于1.25 s,复杂度为0.30,并且振动区间较小,仅为[-0.03,0.02]m,说明该方法较为简洁,可以快速实现机械臂误差校正,降低了算法复杂度的同时,提高了机械臂的稳定性强。 展开更多
关键词 激光测距传感器 机械臂末端位姿 误差校正 最小二乘算法 遗传算法 非线性传递特性
在线阅读 下载PDF
Nonlinear analysis of pile load-settlement behavior in layered soil
2
作者 吕述晖 王奎华 +1 位作者 张鹏 C.J.LEO 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第9期3615-3623,共9页
A simplified approach is presented to analyze the single pile settlement in multilayered soil. First, a fictitious soil-pile model is employed to consider the effect of layered soil beneath pile toe on pile settlement... A simplified approach is presented to analyze the single pile settlement in multilayered soil. First, a fictitious soil-pile model is employed to consider the effect of layered soil beneath pile toe on pile settlement behavior. Two approximation methods are proposed to simplify the nonlinear load transfer function and simulate the nonlinear compression of fictitious soil-pile, respectively. On this basis, an efficient program is developed. The procedures for determining the main parameters of mathematical model are discussed. Comparisons with two well-documented field experimental pile loading tests are conducted to verify the rationality of the present method. Further studies are also made to evaluate the practicability of the proposed approach when a soft substratum exists, and the results suggest that the proposed method can provide a constructive means for assessing the settlement of a single pile for use in engineering design. 展开更多
关键词 PILE load-settlement behavior fictitious soil-pile layered soil soft substratum SEDIMENT
在线阅读 下载PDF
上一页 1 下一页 到第
使用帮助 返回顶部