Liu Guangrui

Elastic motion stability analysis of flexible manipulator arm

the end position addition mass and activation joint rotary inertia have important effect on elastic motion stability of flexible manipulator arm. On the basis of mode analysis, the dynamics model of flexible manipulator arm is deduced using Lagrange equation, the state space expression and transfer function are deduced after state variable and input-output are selected. The necessary and sufficient condition of input-output stability and stability criterion of flexible manipulator arm are deduced, based on this, the effect of end position addition mass and activation joint rotary inertia on the motion stability of flexible manipulator arm is analysed.

Notice of Retraction Route chart of the effect of the end position addition mass on the parameter change of flexible manipulator arm

The dynamic model of flexible manipulator arm having addition mass block on its end position is deduced in the first place, then several parameters of flexible manipulator arm impacted by its end position addition mass are enumerated, the effect of the end position addition mass on the parameters is exploded through route chart, it is favorable to subsequent analysis and computation that program calculation illustrates that the effect of the end position addition mass on the parameters is not more complex than the description by the formulas.

Study of the control method of actively changing flexural rigidity of flexible manipulator arm

First of all, the effect of flexural rigidity on the elastic vibration amplitude of the end position of flexible manipulator arm is analysed systematically, and according to this analysis, we hold that the increase of flexural rigidity can reduce the vibration amplitude of the end position of flexible manipulator arm. Then, the effect of axial tensile force on natural frequency and flexural rigidity is analysed, and we deem that the increase of axial tensile force can increase effectively the natural frequency and flexural rigidity, and, the increase of axial tensile force is favorable to the suppression of the elastic vibration of the end position of flexible manipulator arm. After all, the control method of actively changing rigidity by which the elastic vibration amplitude of the end position of flexible manipulator arm can be controlled through regulating the axial tensile force is put forward.

Convergence analysis and improvement method of ant colony algorithm of path planning for mobile robot

This article elaborates the principle of ant colony algorithm of path planning for mobile robot in the first part, and explains that the interaction process of ant colony algorithm is a Markov process. Then the convergence property of ant colony algorithm is analyzed, and the methods to improve the convergence of ant colony algorithm are put forward. Finally, the effectiveness and feasibility of the algorithm are proved by the simulation.

Design of fuzzy self-adaptive PID servo control system

The study on the auto-searching for track of intelligent vehicles, the fuzzy self-adaptive pid control are applied to the problem, through flexible formulate fuzzy rules and online setting PID parameters, It has been improved that the steering gear systems dynamic response, steady-state accuracy, robust indices such as performance. Under different driving circuit, the intelligent car can drive more quickly and smoothly.

Design of speech electronic speed odometer based on embedded system

Electronic speed odometer commonly used has a single way of transferring information or transfers blurry information at present, besides its real time performance is not high enough. To solve the problems, a kind of electronic speed odometer with speech function is designed using SPCE061A single chip as its controller, and Real-Time Operating System of MiniOS is used to improve reliability, the real time performance and accuracy. The paper is going to introduce the theory of electronic speed odometer including a kind of improved algorithm for speed, the technique of speech play and the design of hardware and software of the system. The experimental results of design turn out that the system realizes what we want well.