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随着生产智能化的发展,生产一线的劳动者逐渐变为工业机器人.针对工业机器人工作特点,提出单个工业机器人完成一道工序的标准工时构成要素;基于可靠性理论,分别推导出单个工业机器人在单故障和多故障下平均故障维修时间(MTTR)和平均保障延误时间(MLDT)的数学模型.通过案例分析显示该方法具有可行性,能够为企业正确核算生产能力、提高生产效率提供理论基础. 相似文献
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针对轮式移动舞台机器人的快速镇定和移动区域约束控制问题,提出一种快速双模模型预测控制(MPC)算法.考虑轮式移动舞台机器人的位姿约束和速度约束,采用控制Lyapunov函数概念和极坐标系模型设计模型预测控制算法.利用移动舞台机器人与目标的距离、瞄准角和方位角构造一个控制Lyapunov函数,建立移动舞台机器人的一个解析双模结构MPC控制器,再引入自由变量,参数化预测控制变量,降低双模MPC在线优化计算量.在约束条件下,建立了轮式移动舞台机器人闭环系统稳定性和MPC递推可行性理论结果.最后,通过与常规MPC比较,仿真验证所提算法的有效性和优越性. 相似文献
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《数学的实践与认识》2015,(19)
采用灰色系统预测理论对产品可靠性寿命试验数据进行预测,提出了建立产品可靠性寿命试验数据的灰色预测NGM(1,1)模型的方法,并通过采用试验数据序列与预测数据序列总体分布函数相等性检验方法确认灰色预测NGM(1,1)模型用于产品可靠性寿命试验数据预测是可行的.算例结果表明,采用灰色预测方法预测产品可靠性寿命试验数据并进行相关的分布函数参数估计有较高的精度,可达到缩短试验时间和节约试验费用目的. 相似文献
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《数学的实践与认识》2020,(2)
为了研究航空公司机队可靠性等级预测问题,提出一种基于灰色关联与支持向量机(SVM)的航空公司机队可靠性等级预测模型.从某航空公司B737-300/400机队的可靠性月报中,得到影响机队可靠性等级的9个指标;应用灰色关联法对机队可靠性等级和指标进行相关性分析,就各个指标与机队可靠性等级之间的关联度进行了排序;采用基于径向基核函数(RBF)的支持向量机(SVM)建立了航空公司机队可靠性等级预测模型.以某航空公司B737-300/400机队为例进行了可靠性等级预测分析,验证了所提方法的有效性. 相似文献
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《数学的实践与认识》2015,(13)
工业需水量预测是水资源管理和规划的重要内容之一.首先判断了工业用水量的主要影响因素.数据分析表明,工业用水量与工业增加值之间存在明显的倒"U"型关系,与工业用水重复利用率之间存在很强的负相关关系.然后建立了以工业增加值,工业增加值的平方及工业用水重复利用率为解释变量的多元回归模型.在情景假定下,应用模型预测2014年、2015年我国的工业需水量.预测结果为2014年工业需水量为1416.4亿立方米,比2013年增加0.5%.2015年工业需水量为1418.6亿立方米,比2013年增加0.6%. 相似文献
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是以机器人及其安全系统所构成的一个可修复系统作为研究对象,运用泛函分析方法并结合C_0半群理论,证明了严格占优本征值在本系统的存在性并且是系统严格占优本征值,进一步证明了在一定条件下,系统的动态解以指数化形式收敛于系统的稳态解. 相似文献
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本文主要研究由机器人与其安全装置组成的系统. 利用泛函分析方法将原系统的偏微分方程组转化成Banach空间中抽象的Cauchy问题.通过代数理论和$C_0$半群理论得到系统的瞬态可靠度和稳态可用度,利用转换变量证明了系统的可靠性和零状态可控性.最后利用Maple软件模拟出系统瞬态可靠度和稳态可用度图形. 相似文献
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研究具有周期修复函数的机器人与其连带的安全装置构成的系统的可靠性.运用泛函分析的方法,特别是Banach空间上的线性算子半群C_0理论,证明了系统的适定性,并通过分析系统本质谱和经过扰动后半群的本质谱半径的变化,给出解的有限展开式。并进一步证明,0是系统的严格占优本征值,系统的非零本征值至多有两个,从而表明系统解以指数形式收敛. 相似文献
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A coupled process-structure model to predict path deviations in robot based sheet metal forming is presented. The model consists of a finite element (FE) approach to simulate the sheet forming and a multibody system (MBS) modelling the robot. By coupling both models a path prediction tool is provided. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) 相似文献
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遥操作机器人系统的通信通道中存在通信时延,而且机器人模型存在不确定性,以致可能造成系统不稳定和操作性能降低.针对通信时延和系统不确定性,利用鲁棒控制理论,提出用力、位置和速度反馈的控制方法,使得系统稳定,且具有良好的透明性.仿真结果表明了该方法的有效性. 相似文献
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在分析广西边境小额贸易现状的基础上,运用灰色模型和马尔科夫链的基本理论,构建灰色马尔科夫模型进行了预测.结果表明,经过二阶弱化处理、灰色建模、灰色新陈代谢以及灰色马尔科夫预测的结果,能明显地提高预测精度.最后,提出了加大基础设施建设、转变边贸流通模式、构建沿边型产业开放体系、提高边境贸易便利化水平和培育发展边境特色经济带等对策建议. 相似文献
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《European Journal of Operational Research》1987,32(2):245-250
This paper considers the problem of uncertainty in reliability data that are used in many decision making processes and describes a simulation approach to dealing explicitly with this uncertainty. The causes of uncertainty are discussed for three different situations: (a) in the process of designing new systems, when failure data are not yet available, (b) after performing reliability test and gathering failure data, and (c) in mission reliability prediction. It is concluded that, in performing reliability prediction or failure rate prediction, one should use interval estimates rather than point estimates. These intervals can be used to perform component classification and then, employing simulation, to obtain tables or scattergrams for the mean time between failures of a system or for system reliability. 相似文献
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One of the most important issues for a development manager may be how to predict the reliability of a software system at an arbitrary testing time. In this paper, using the software failure-occurrence time data, we discuss a method of software reliability prediction based on software reliability growth models described by an NHPP (nonhomogeneous Poisson process). From the applied software reliability growth models, the conditional probability distribution of the time between software failures is derived, and its mean and median are obtained as reliability prediction measures. Finally, based on several numerical examples, we compare the performance between these measures from the view point of software reliability prediction in the testing phase. 相似文献
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C. Mladenova 《PAMM》2003,2(1):144-145
Since the treatment of robot locomotion is quite closed with this one of human locomotion, the present paper treats the problems of modelling, simulation and motion planning of robot locomotion on the base of knowledge of the skeletal system, as well as on the base of multibody system modelling, simulation and control using some ideas from Lie group theory and differential geometry. 相似文献
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Javier Moreno-Valenzuela 《Communications in Nonlinear Science & Numerical Simulation》2013,18(1):1-11
Roughly speaking, anti control of chaos consists in injecting a chaotic behavior to a system by means of a control scheme. This note introduces a new scheme to solve the anti control of chaos for robot manipulators. The proposed controller uses an adaption law to estimate the robot parameters on line. Thus, the controller does not require any knowledge of the physical parameters of the manipulator, such as masses, lengths of the links, moments of inertia, etc. The new scheme is based in the velocity field control paradigm, hence the specification of a chaotic system to define a desired velocity field is required. Experimental results in a two degrees-of-freedom direct-drive robot illustrate the practical feasibility of the introduced theory. In order to achieve anti control of chaos of our experimental system, two different chaotic attractors are used: the Genesio-Tesi system and a Jerk-type system. Results showed that the controller is able to inject the chaotic behavior to the robot while the robot parameters are estimated on line. 相似文献