中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
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Gain-optimization trajectory planning method for hyper-redundant manipulator with joint constraints 期刊论文  OAI收割
Guangxue Jingmi Gongcheng/Optics and Precision Engineering, 2019, 卷号: 27, 期号: 5, 页码: 1075-1086
作者:  
W.-R.Wang;  K.-J.Liu;  J.-L.Gu;  A.Li;  H.-R.Chu
  |  收藏  |  浏览/下载:24/0  |  提交时间:2020/08/24
An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators 期刊论文  OAI收割
International Journal of Advanced Robotic Systems, 2018, 卷号: 15, 期号: 5, 页码: 13
作者:  
Wang, W. R.;  Zhu, M. C.;  Wang, X. M.;  He, S.;  He, J. P.
  |  收藏  |  浏览/下载:36/0  |  提交时间:2019/09/17
Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space 期刊论文  OAI收割
CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2012, 卷号: 25, 期号: 4, 页码: 665-673
作者:  
Chen Y(陈洋);  Han JD(韩建达);  Wu HY(吴怀宇)
收藏  |  浏览/下载:20/0  |  提交时间:2012/10/24
Curve fitting and optimal interpolation on CNC machines based on quadratic B-splines 期刊论文  OAI收割
SCIENCE CHINA-INFORMATION SCIENCES, 2011, 卷号: 54, 期号: 7, 页码: 1407-1418
作者:  
Zhang Mei;  Yan Wei;  Yuan ChunMing;  Wang DingKang;  Gao XiaoShan
  |  收藏  |  浏览/下载:19/0  |  提交时间:2018/07/30
Reentry guidance based on feedback linearization (EI CONFERENCE) 会议论文  OAI收割
2011 International Conference on Electronics, Communications and Control, ICECC 2011, September 9, 2011 - September 11, 2011, Ningbo, China
Li D.-W.
收藏  |  浏览/下载:30/0  |  提交时间:2013/03/25
This paper presents a new reentry guidance algorithm for RLV (Reusable Launching Vehicle). The algorithm consists of two integrated components: trajectory planning algorithm and tracking algorithm. The most striking feature of algorithm here lies in that both planning and tracking are executed directly in height-velocity space  which is different from the methodology of configuration of drag in traditional shuttle guidance. In the session of trajectory planning  all trajectory constraints can be expressed with upper bound and lower bound in height-velocity space  then a linear interpolation is carried to search the nominal trajectory satisfying the requirement of downrange and target constraints. Then the tracking algorithm uses feedback linearization method to track this nominal profile and meet all constraints. Another typical feature of this algorithm is the strategy of downrange extension using FPA (flight path angle) controller to fulfill the requirement of large downrange. Proper combination of planning-tracking algorithm and FPA controller can bring great flexibility and adaptability to reentry guidance. The algorithm is proved to be robust enough to accommodate the model error and noises in the dynamics. 2011 IEEE.  
全方位移动机器人控制与导航研究 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, 2006
作者:  
邓旭玥
收藏  |  浏览/下载:68/0  |  提交时间:2015/09/02