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Measurement of six degree-of-freedom ground motion by using eight accelerometers

Earthquake Engineering and Engineering Vibration 2005年第2期4卷 229-232页

作者：杨振宇沈毅刘志言 Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Ph.D.Cadidate Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Professor

A new integrated measuring system with eight force-balance accelerometers is proposed to obtain a direct measurement of six degree-of freedom （DOF） ground motions, including three rotational and three actual translational acceleration components without gyroscopes. In the proposed measuring system, the relationship between the output from eight force-balance accelerometer and the six DOF motion of the measuring system under an earthquake are described by differential equations. These equations are derived from the positions and directions of the eight force-balance accelerometers in the measuring system. The third-order Runge-Kutta algorithm is used to guarantee the accuracy of the numerical calculation. All the algorithms used to compute the six DOF components of the ground motion are implemented in a real-time in Digital Signal Processor （DSP）. The distortion of the measured results caused by position and direction errors of the accelerometers in the measuring system are reduced by multiplying a compensation coefficient C to the output and subtracting static zero drift from the measured results, respectively.

关键词： six degree-of-freedom ground motion force-balance accelerometer translational acceleration rotational acceleration

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Monte Carlo Method for Searching Functional Workspace of An Underwater Manipulator

Monte Carlo Method for Searching Functional Workspace of An ...

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第30届中国控制与决策会议

作者： Yao Jianjun Sun Xiaojie Zhang Shiqi Yang Ming Zhang Xiaodong College of Mechanical and Electrical Engineering Harbin Engineering University

In the last few decades we have seen greater advancement in the underwater technology with an intensified interest of researchers in the underwater robotics fields. Therefore, an underwater manipulator with six degree-of-freedom was presented with the purpose of exploring ocean resources. Underwater manipulator joint coordinate systems were established and link parameters were determined by D-H method, and the forward kinematics model was built according to the body structure and motion features. The workspace of manipulator was analyzed by Monte Carlo method for random sampling. Simulation results showed that by using Monte Carlo method for random sampling the analysis of underwater manipulator workspace changed smoothly without impact, which confirmed the rationality of structural design, and provided the basis for optimal design of the underwater manipulator.

关键词： Underwater manipulator six degree-of-freedom workspace kinematics

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