This paper proposes a new method to optimise trajectory for the robot arm. Quadrinomial and quintic polynomials are utilised in joint space to describe point to point trajectory. The ant lion optimiser (ALO) is introduced to ensure searching the global optimal. Dynamic weight is adopted to improve the search ability of the new algorithm. Considering a maximum pre-defined joint torque of the robot manipulator and the ability to avoid obstacles in the work space, the objective function is given for ALO to minimising motion space and time. The simulation is accomplished for different situation with or without obstacle in the workspace to verify the validity of the new algorithm. The different simulation results generated by ALO, GA and QPSO are given to 156 J. Guo et al.inspect ALOs accuracy. The results show ALO has extremely strong ability to find the global optimal and even less time consumed compared with GA and QPSO. His main research directions include robot design and application, intelligent equipment system optimisation and integration, etc. So far, he has won the second prize of scientific and technological progress in Henan Province 1 and been responsible for over five items of the national, provincial and ministerial level horizontal scientific research projects. He has published over 30 papers in the domestic and foreign academic journals including SCI/EI indexed 12.Desheng Yan is a member of postgraduate student in the Department of Electric and Information Engineering, Zhengzhou University of Light Industry. His major is Control Theory and Control Engineering. He is mainly engaged in the research and application of robot and intelligent equipment. He is currently in the research and development of the industrial robot application Hong Cao is a Senior Engineer in the field of electrical industry. He is also a member of China High Voltage Switchgear Standardization Technical Committee. He has been served as a workshop director, technical department manager, chief engineer, general manager and other duties in different electrical companies which allows him to accumulate a wealth of experience in the field of electrical manufacturing and electric control. He is currently the General Manager of Henan Senyuan Electric Cooperation.Zhengke Jiang is a postgraduate student of Zhengzhou University of Light Industry. His major is Control Engineering. His main research direction is mainly the research and application of numerical control technology. He is currently engaged in research work of automatic guided vehicle.
The intensity and direction of the geomagnetism vector is a function of geography position. The roll attitude of flying ammunition can be calculated by detecting geomagnetism. In the paper, the chief scheme and implement method of roll attitude detection system are suggested. The result of the geomagnetic detection unit can be used to resolve attitude by inertial trajectory. After experiments on 2-axis turntable are implemented, the results show that by the geomagnetic solution the angle error is of no cumulative characteristics, and the absolute error at different rotating speeds are controlled within 2 deg.
In order to gain the maximum destroy when the concrete facilities are penetrated by projectile, the best detonation position must be controlled. So a signal processor system was designed to record the penetration acceleration. The acceleration character and the control algorithm of penetration depth were studied by simulation. The displacement integrated by acceleration was verified to be effective, which could control the detonation of projectile in the right position.
Digital platform plays a vital part both in managing enormous product data, project team and assignment for the development of virtual prototype. In this paper, aiming at digital platform supporting gun virtual prototype design, the framework of digital platform is designed. The management of product structure and authority is studied; the solution of drawing files view online is proposed. Judging from the feedbacks, digital platform could efficiently support the thorough management of gun virtual prototype design.
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