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利用二次优化实现柔性冗余度机器人关节力矩最小化研究 总被引:4,自引:0,他引:4
对基于振动抑制的柔性冗余度机器人关节力矩的最小化进行了研究。通过分析影响柔性机器人弹性动力响应的因素,得出了在结构参数不变的情况下可以通过适当调整关节运动参数来提高机器人动态性能的结论。在此基础上,通过对柔性冗余度机器人的关节运动进行研究,提出了通过自运动的适当选取从而抑制机器人柔性振动的方法。通过对满足抑振要求的自运动的选取进行分析,指出柔性冗余度机器人在实现振动抑制的基础上还具有二次优化的能力,并且利用这种二次优化的能力得出了基于振动抑制的最小化关节力矩的方法。数值仿真验证了该方法的有效性。 相似文献
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海南地区电离层不规则体纬向漂移速度的观测和研究 总被引:3,自引:2,他引:1
根据中国海南富克(19.3°N,109.1°E)三点GPS观测系统2007年3月至11月的观测数据,利用互相关方法分析了三站闪烁信号的时间延迟,得出了不规则体纬向漂移的基本特征.在中国海南地区,闪烁主要发生在春秋季节,夜间不规则体的纬向漂移速度以东向为主,大小在50~150 m/s之间;平均东向漂移速度随时间呈下降趋势.另外,在闪烁刚发生时,不规则体纬向速度起伏较大,这可能与不规则体的随机起伏以及等离子体泡产生时垂直速度较大有关.中国海南地区不规则体纬向漂移速度的这些基本特征与低纬其他地区的测量结果较为一致. 相似文献
216.
通过“往返试飞”消除风速影响从而由 GPS测得的地速求得真空速,运用近似理想气体理论,建立Ma数真值与真空速、大气总温的关系,解算出 Ma数真值,得到“GPS速度法”;或者考虑真实大气与标准大气的差异,在水平航线上引入气压高度常值偏差及航路气压修正系数,建立 GPS几何高度与气压高度的关系,结合“速度法”求得的任一 Ma数点的校准量,解算出气压高度真值,得到“GPS高度法”。通过对某型飞机的飞行试验,验证了这些方法的可靠性与实用性。 相似文献
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全球卫星导航系统的近期进展 总被引:6,自引:0,他引:6
20世纪末,卫星导航发展势态出现了GLONASS星座维持困难,GPS推行现代化计划和欧洲Galileo计划出台三大新闻。有望于2010年左右Galileo星座和GPS星形成互补和卫为余度。最近,美国国会削减GPS预算,在GPS民用进展上投下阴影,GPS单一导航手段暂难实行,有利于欧洲争取时间,积极筹措Galileo系统。 相似文献
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《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2020,65(5):1402-1413
The present paper reports coordinated ionospheric irregularity measurements at optical as well as GPS wavelengths. Optical measurements were obtained from Tiny Ionospheric Photometer (TIP) sensors installed onboard the Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC) satellites. GPS radio signals were obtained from a dual frequency GPS receiver operational at Calcutta (22.58°N, 88.38°E geographic; geomagnetic dip: 32.96°; 13.00°N, 161.63°E geomagnetic) under the SCIntillation Network Decision Aid (SCINDA) program. Calcutta is located near the northern crest of Equatorial Ionization Anomaly (EIA) in the Indian longitude sector. The observations were conducted during the unusually low and prolonged solar minima period of 2008–2010. During this period, four cases of post-sunset GPS scintillation were observed from Calcutta. Among those cases, simultaneous fluctuations in GPS Carrier-to-Noise ratios (C/No) and measured radiances from TIP over a common ionospheric volume were observed only on February 2, 2008 and September 25, 2008. Fluctuations observed in measured radiances (maximum 0.95 Rayleigh) from TIP due to ionospheric irregularities were found to correspond well with C/N0 fluctuations on the GPS links observed from Calcutta, such effects being noted even during late evening hours of 21:00–22:00 LT from locations around 40° magnetic dip. These measurements indicate the existence of electron density irregularities of scale sizes varying over several decades from 135.6 nm to 300–400 m well beyond the northern crest of the EIA in the Indian longitude sector during late evening hours even in the unusually low solar activity conditions. 相似文献
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Xuexi Liu Weiping Jiang Zhao Li Hua Chen Wen Zhao 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2019,63(11):3489-3504
Precise point positioning (PPP) usually takes about 30?min to obtain centimetre-level accuracy, which greatly limits its application. To address the drawbacks of convergence speed and positioning accuracy, we develop a PPP model with integrated GPS and BDS observations. Based on the method, stations with global coverage are selected to estimate the fractional cycle bias (FCB) of GPS and BDS. The short-term and long-term time series of wide-lane (WL) FCB, and the single day change of narrow-lane (NL) FCB are analysed. It is found that the range of GPS and BDS non-GEO (IGSO and MEO) WL FCB is stable at up to a 30-day-time frame. At times frame of up to 60?days, the stability is reduced a lot. Whether for short-term or long-term, the changes in the BDS GEO WL FCB are large. Moreover, BDS FCB sometimes undergoes a sudden jump. Besides, 17 and 10 stations were used respectively to investigate the convergence speed and positioning errors with six strategies: BDS ambiguity-float PPP (Bfloat), GPS ambiguity-float PPP (Gfloat), BDS/GPS ambiguity-float PPP (BGfloat), BDS ambiguity-fixed PPP (Bfix), GPS ambiguity-fixed (Gfix), and BDS/GPS ambiguity-fixed (BGfix). The average convergence speed of the ambiguity-fixed solution is greatly improved compared with the ambiguity-float solution. In terms of the average convergence time, the Bfloat is the longest and the BGfix is the shortest among these six strategies. Whether for ambiguity-float PPP or ambiguity-fixed PPP, the convergence reduction time in three directions for the combined system is the largest compared with the single BDS. The average RMS value of the Bfix in three directions (easting (E), northing (N), and up (U)) are 2.0?cm, 1.5?cm, and 5.9?cm respectively, while those of the Gfix are 0.8?cm, 0.5?cm, and 1.7?cm. Compared with single system, the BDS/GPS combined ambiguity-fixed system (BGfix) has the fastest convergence speed and the highest accuracy, with average RMS as 0.7?cm, 0.5?cm, and 1.9?cm for the E, N, U components, respectively. 相似文献