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. The proposed SMCBL was compared with inverse dynamic control (IDC), a conventional nonlinear control method. The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted... on an actual IRB-120 robot manipulator. Key words: robot manipulator control; IRB-120 robot; sliding mode control; sliding mode control with boundary layer; inverse dynamic control Cite this article......
based on state inverse solution[J]. Journal of Central South University(Science and Technology), 2021, 52(4): 1185-1196.......
旋转角度的坐标变换公式为 (1) 式中:(,)和(x,y)为旋转前后的图像坐标. 旋转叶片在转动时发生了刚体旋转和平移以及变形,可描述为仿射变换: (2) 式中:,,和为旋转,拉压和剪切状态矩阵的元素;为平移系数.对于参考图像和变形图像检测得到的对特征点坐标,代入式(2)可得 (3) 式(3)可简记为,;;;对应解为.有了仿射变换参数后,旋转在整个仿射变换中占主要成分,可直接根据估计出旋转角度.式(2)还可简化为 (4) 其中:,.旋转角度可根据和估计得出. 对照式(1),可得 (5) 在(m1,m2,m3,m4)和(,)已知的条件下,求解式(5),可得旋转中心为 &......
在两个峰值. 关键词:A356铝合金;凝固潜热;等效比热法;反热传导;界面换热系数 中图分类号:TG249.2 文献标志码:A Inverse heat conduction model for determining interfacial heat transfer coefficient during casting...) with the latent heat released during the solidification of the molten, a model of inverse heat conduction based on the equivalent specific heat method was established. The effects of some parameters......
中图分类号:TP273 文献标志码:A 文章编号:1672-7207(2011)S1-0953-05 Inverse mode composite control based on least...) Abstract: For the problem of strong nonlinear in chemical process of continuous stirrer tanks, based on input/output data from the system, the inverse model based on the least squares support vector machine......
and the solution method are reasonable. Moreover it provides theory basis for making the annealing process. key words: thermal conductivity coefficient; inverse heat conduction problem; golden section method... of orthotropic materials by inverse analysis[J]. International Communications in Heat and Mass Transfer, 1995, 22(2): 201-211. [6] Sawaf B, Ozisik M N, Jarny Y. Inverse analysis to estimate linearly temperature......
physics with dynamic simulation procedure. Specifically, a counter-intuitive phenomenon of the resistance time-variation caused by the transient inverse virtual variation (TIVV) effect was highlighted... modeling; simulation; finite element method; dynamic resistance; transient inverse virtual variation effect 1 Introduction The trend of automotive weight reduction inspires the extensive usage......
, a novel NaYF4:Yb,Er nanocrystals/TiO2 inverse opal composite film was designed by self-assembly and solvent evaporation methods. 32-fold enhanced upconversion(UC) emission was investigated under 980 nm......
, a novel NaYF4:Yb,Er nanocrystals/TiO2 inverse opal composite film was designed by self-assembly and solvent evaporation methods. 32-fold enhanced upconversion(UC) emission was investigated under 980 nm......
arrays,which is fabricated by a dual template method using a poly methyl methacrylate(PMMA) inverse opal and the nonionic surfactant Brij 58 to template the mesostructure within the regular voids......