介绍了STEP-NC的概念、数据模型及其结构特点,然后通过对比MLP(Machining Line Planner)和STEP-NC数控程序对特征和操作的不同定义方法,分析了在MLP中特征及加工工艺与STEP-NC的对应关系,探讨了在MLP中实现输出STEP-NC格式的零件加工程...介绍了STEP-NC的概念、数据模型及其结构特点,然后通过对比MLP(Machining Line Planner)和STEP-NC数控程序对特征和操作的不同定义方法,分析了在MLP中特征及加工工艺与STEP-NC的对应关系,探讨了在MLP中实现输出STEP-NC格式的零件加工程序的方法。展开更多
It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace an...It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant 60875067the Natural Science Foundation of Heilongjiang Province under Grant F200602the Technical Innovation Talent Foundation of Harbin under Grant 2010RFQXG010
文摘It is necessary for legged robots to walk stably and smoothly on rough terrain.In this paper,a desired landing points(DLP) walking method based on preview control was proposed in which an off-line foot motion trace and an on-line modification of the trace were used to enable the robot to walk on rough terrain.The on-line modification was composed of speed modification,foot lifting-off height modification,step length modification,and identification and avoidance of unsuitable landing terrain.A planner quadruped robot simulator was used to apply the DLP walking method.The correctness of the method was proven by a series of simulations using the Adams and Simulink.
