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To reduce the cost and cycle time in fabrication of the conventional stamping die, a new forming technology, so-called multi-point matched-die forming (MPMDF), has been developed based on the discretization of the die. In MPMDF, the fixed shape matched-dies of conventional stamping are replaced by a pair of opposed matrices of movable punch elements. Using multi-point matched-dies generated by punch matrices, a variety of three-dimensional sheet parts of different shapes can be produced. Taking advantage of the flexibility of the multi-point die, new sheet forming techniques have been developed, which realize the formation of parts of large size and with large deformation. In this paper, the principle of MPMDF and the new forming techniques are described, new MPMDF equipment is introduced, and typical application examples are presented.

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The problem of inverse kinematics for general 6R robots was provided for calculation process, and also exist many inverse kinematics and geometric structure which did not meet the PIEPER criterion. In order to solve these problems, an inverse kinematics algorithm with high accuracy based on multiple population genetic algorithm (MPGA) was proposed. Multiple population was performed to accelerate the convergence rate and avoid the defect of the least part point. For illustrating the performance of the MPGA, the simulation results attained from MPGA are compared with those obtained from well-known single-population genetic algorithm (SGA). Experiments on Panasonic TA1400 robot verified that the algorithm could calculate all globally optimal solutions of general geometric structure and the pose error also can have up to two digits after the decimal point. So this algorithm can be used to guarantee higher control accuracy.

This paper proposes nonlinear control methods for output regulation of ball and plate system. Positions of the ball are regulated with double feedback loops. Recursive backstepping design is employed for the external feedback loop, while switching control scheme is used in the inner feedback loop. System performance was tuned by backstepping parameters. Simulation results show that the proposed nonlinear control works wells in both stabilization and tracking control. Asymptotical stabilities are also achieved under unknown external disturbance in the experiments.