On the Intrinsic Properties of Point Trajectories in Three-Dimensional Kinematics

1985 ◽  
Vol 107 (3) ◽  
pp. 401-405 ◽  
Author(s):  
L. M. Hsia ◽  
A. T. Yang
Keyword(s):  
Control Systems ◽  
Rational Design ◽  
Robot Manipulators ◽  
Three Dimensional ◽  
Intrinsic Properties ◽  
Spatial Mechanisms ◽  
Point Trajectories ◽  
Straight Lines ◽  
And Control ◽  
Analytical Expressions

In this paper we derive analytical expressions for curvature, torsion, and radius of osculating sphere of the point trajectory in three-dimensional kinematics. Corresponding to a design position we obtain equations of loci of points tracing straight lines, helical curves, and spherical curves. It is hoped that the result of this study will provide another step toward rational design of spatial mechanisms and control systems for robot manipulators.

Instantaneous Invariants in Three-Dimensional Kinematics

1978 ◽  
Vol 45 (2) ◽  
pp. 409-414 ◽  
Author(s):  
Y. Kirson ◽  
A. T. Yang
Keyword(s):  
Rigid Body ◽  
Rational Design ◽  
Three Dimensional ◽  
Higher Order ◽  
Surface Generation ◽  
Intrinsic Properties ◽  
Canonical Systems ◽  
Spatial Mechanisms ◽  
Arbitrary Line

The paper generalizes the concepts of canonical systems and instantaneous invariants from planar to three-dimensional kinematics. It presents a systematic procedure to determine the instantaneous invariants. An example is included for illustration. The instantaneous invariants are derived on the basis of line coordinates, therefore they are useful for the characterization of higher-order intrinsic properties of a ruled surface—the path trajectory of an arbitrary line embedded in a rigid body in three-dimensional motion. It is hoped that this study may be useful for the rational design of spatial mechanisms for surface generation.

Learning control of robot manipulators by interactive simulation

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 515-520 ◽  
Author(s):  
Rafael Kelly ◽  
Sebastian Dormido ◽  
Carmen Monroy ◽  
Elizabeth Díaz
Keyword(s):  
Control Systems ◽  
Position Control ◽  
Graphical Representation ◽  
Robot Manipulators ◽  
Robot Dynamics ◽  
Interactive Simulation ◽  
Robot Arm ◽  
Control Structures ◽  
Dynamics And Control ◽  
And Control

Control systems of robot manipulators offer many challenges in education where the students must learn robot dynamics and control structures, and understand relations between the control parameters and the systems performance. Interactive simulation is aimed at improving the understanding of and intuition for the abstract parts of the control of robot courses. This paper presents an application of interactive simulation to teach control systems of robots. The application considers a nonlinear robot arm and two control modules: position control and motion control. Students can directly manipulate graphical representation of the systems such as a choice among seven control structures, controller gains, and desired trajectories, and obtain instant feedback on the effects. These features make the interactive learning tool stimulating and of high pedagogical value.

scholarly journals A three-dimensional intelligent engineering management and control system for the construction of a long-span valve hall project based on a microservice architecture

PLoS ONE ◽  
2021 ◽  
Vol 16 (12) ◽  
pp. e0261012
Author(s):  
Qinghe Zeng ◽  
WeiHua Ming ◽  
Jin Luo ◽  
SongAn Zhang ◽  
Wei Hu ◽  
...  
Keyword(s):  
Control System ◽  
Control Systems ◽  
Construction Management ◽  
Three Dimensional ◽  
Engineering Management ◽  
Engineering Structures ◽  
Entire Process ◽  
Long Span ◽  
And Control ◽  
Microservice Architecture

Three-dimensional intelligent engineering management and control systems (EMCS) based on the browser/server (B/S) model are an important part of intelligent engineering development. These systems are used for solving the difficulties encountered in engineering management with frequent cross-specialties and are vital tools for data exchange and service sharing among multiple departments. Currently, most engineering management and control systems are based on service-oriented architectures (SOAs). The integration mechanism and high coupling of SOAs leads to the reduction in system expansibility, service quality and service safety of the engineering system, making it difficult for these architectures to serve the construction of long-span valve hall engineering. To address these concerns, the management and application technology of the multidisciplinary data of valve hall engineering based on a microservice architecture (MSA) is proposed to improve the management efficiency of engineering data. A 3D integration modeling method for valve hall engineering structures and geological environments is proposed to establish the topological association between engineering structures and geological environments, without increasing the amount of model data required. A 3D intelligent engineering management and control technology for the entire process of the construction of long-span valve hall engineering is proposed, which realizes the entire process simulation and control of engineering construction based on WebGL technology. Accordingly, a three-dimensional intelligent engineering management and control system for the entire construction process of a long-span valve hall project in Southeast China is established, which can effectively manage and apply the data, display and analyze the three-dimensional model, and control and make decisions regarding the construction schedule. This study provides support for the construction of "smart engineering", promotes information communication and transmission between different project units, and speeds up the transformation from traditional construction management relying on drawings to three-dimensional intelligent construction management based on cloud services.

On the Principle of Transference In Three-Dimensional Kinematics

1981 ◽  
Vol 103 (3) ◽  
pp. 652-656 ◽  
Author(s):  
L. M. Hsia ◽  
A. T. Yang
Keyword(s):  
Rigid Body ◽  
Three Dimensional ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Intrinsic Properties ◽  
Numerical Examples ◽  
Systematic Procedure ◽  
Point Trajectories

In this paper, the principle of transference is developed and applied to the establishment of a systematic procedure for the determination, via screw calculus, of a prescribed rigid body motion. This is an essential first step toward the study of the intrinsic properties of point trajectories in three-dimensional kinematics. Two numerical examples are presented for illustrative purposes.

Sign in / Sign up

Export Citation Format

Share Document