机构

• 长春光学精密机械与物... [1]
• 自动化研究所 [1]

采集方式

• OAI收割 [2]

内容类型

• 会议论文 [1]
• 学位论文 [1]

发表日期

• 2011 [1]
• 2006 [1]

学科主题

筛选

浏览/检索结果: 共2条，第1-2条 帮助 条数/页： 5101520253035404550556065707580859095100 排序方式： 请选择题名升序题名降序提交时间升序提交时间降序作者升序作者降序发表日期升序发表日期降序 装配机器人系统的工件定位和抓取装配研究 学位论文  OAI收割 工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2011 作者:  赵广涛 收藏  |  浏览/下载：211/0  |  提交时间：2015/09/02 装配机器人  目标检测  三维工件定位  图像矩  抓取点提取  Assembly robot  Target recognition  Work-piece location  Image moment  Extraction of the grasp point   Key techniques of laser direct writing of fine lines on the spherical surface (EI CONFERENCE) 会议论文  OAI收割 ICO20: Optical Design and Fabrication, August 21, 2005 - August 26, 2005, Changchun, China Liang F.; Hu J. 收藏  |  浏览/下载：21/0  |  提交时间：2013/03/25 The main principles of laser direct writing (LDW) system for lines on the spherical surface (SS) are discussed. It is pointed out that line profile is determined by the exposure dose distribution  which lies on the light intensity distribution of focus plane and the scanning speed. To improve the quality of line profile on the SS  several key techniques as follows are introduced. Firstly  the unique system configuration  four axes mutually intersecting at the center of the SS  is adopted  which ensures the shape of the focus be maintained circular during the writing period. Secondly  an automatic focus system (AFS) with the function of automatic focus in a certain range is introduced. Thirdly  to guarantee the linear velocity to accord with the exposure character of the photoresist all the time  an efficient arithmetic that controls motors run at appropriate angular velocity in different latitude is developed. Finally  to achieve a stable and well-behaved system so as to compensate the velocity instability resulting from unavoidable errors of mechanical and electronics factor  a powerful programmable multi-axis controller (PMAC) is utilized as the kernel element of the servocontrol system  and the curves of step response and parabolic response achieved by feedforward and PID loop tuning indicate that the location precision and velocity stability have reached a high level. The experimental results of LDW of lines on the SS work piece with a diameter 30 mm and a radius equal to 100 mm are given. The section analysis of the lines on the photoresist by the atomic force microscope (AFM) after exposure and development is performed. The results show that line width is about 3.0 m  and the steep sides of the lines are parallel to each other.