A kinematically redundant manipulator is a serial robotic arm that has more independently driven joints than are necessary to define the desired pose (position and orientation) of its end-effector. With this definition, any planar manipulator (a manipulator whose end-effector motion is restrained in a plane) with more than three joints is a redundant manipulator. Also, a manipulator whose end-effector can accept aspatialposeisaredundant manipulator ifithas morethan sixindependently driven joints. For example, the manipulator shown in Fig. 1.1 has two 7-DOF arms mounted on a torso with three degrees of freedom (DOFs). This provides 10 DOFs for each arm. Since the end-effector of each arm can have a spatial motion with six DOFs, the arms are redundant.
標簽： Autonomous Modeling Planning Robots Path
上傳時間： 2020-06-10
上傳用戶：shancjb
This book is intended to be a general introduction to neural networks for those with a computer architecture, circuits, or systems background. In the introduction (Chapter 1), we define key vo- cabulary, recap the history and evolution of the techniques, and for make the case for additional hardware support in the field.
標簽： Deep_Learning_for_Computer_Archit ects
上傳時間： 2020-06-10
上傳用戶：shancjb
特別好的教程特別好的教程 Research progress in synthesis and modification of polylactic acid Research progress in synthesis and modification of polylactic acid
標簽： 教程
上傳時間： 2021-09-17
上傳用戶：陳浩
基于TMS320F2812 光伏并網(wǎng)發(fā)電模擬裝置PROTEL設(shè)計原理圖+PCB+軟件源碼+WORD論文文檔,硬件采用2層板設(shè)計，PROTEL99SE 設(shè)計的工程文件，包括完整的原理圖和PCB文件，可以做為你的學(xué)習(xí)設(shè)計參考。 摘要：本文實現(xiàn)了一個基于TMS320F2812 DSP芯片的光伏并網(wǎng)發(fā)電模擬裝置，采用直流穩(wěn)壓源和滑動變阻器來模擬光伏電池。通過TMS320F2812 DSP芯片ADC模塊實時采樣模擬電網(wǎng)電壓的正弦參考信號、光伏電池輸出電壓、負載電壓電流反饋信號等。經(jīng)過數(shù)據(jù)處理后，用PWM模塊產(chǎn)生實時的SPWM 波，控制MOSFET逆變?nèi)珮蜉敵稣也ā１疚挠肞I控制算法實現(xiàn)了輸出信號對給定模擬電網(wǎng)電壓的正弦參考信號的頻率和相位跟蹤，用恒定電壓法實現(xiàn)了光伏電池最大功率點跟蹤（MPPT），從而達到模擬并網(wǎng)的效果。另外本裝置還實現(xiàn)了光伏電池輸出欠壓、負載過流保護功能以及光伏電池輸出欠壓、過流保護自恢復(fù)功能、聲光報警功能、孤島效應(yīng)的檢測、保護與自恢復(fù)功能。系統(tǒng)測試結(jié)果表明本設(shè)計完全滿定設(shè)計要求。關(guān)鍵詞：光伏并網(wǎng)，MPPT，DSP Photovoltaic Grid-connected generation simulator Zhangyuxin，Tantiancheng，Xiewuyang(College of Electrical Engineering, Chongqing University)Abstract: This paper presents a photovoltaic grid-connected generation simulator which is based on TMS320F2812 DSP, with a DC voltage source and a variable resistor to simulate the characteristic of photovoltaic cells. We use the internal AD converter to real-time sampling the referenced grid voltage signal, outputting voltage of photovoltaic, feedback outputting voltage and current signal. The PWM module generates SVPWM according to the calculation of the real-time sampling data, to control the full MOSFET inverter bridge output sine wave. We realized that the output voltage of the simulator can track the frequency and phase of the referenced grid voltage with PI regulation, and the maximum photovoltaic power tracking with constant voltage regulation, thereby achieved the purpose of grid-connected simulation. Additionally, this device has the over-voltage and over-current protection, audible and visual alarm, islanding detecting and protection, and it can recover automatically. The testing shows that our design is feasible.Keywords: Photovoltaic Grid-connected，MPPT，DSP 目錄引言 11. 方案論證 11.1. 總體介紹 11.2. 光伏電池模擬裝置 11.3. DC-AC逆變橋 11.4. MOSFET驅(qū)動電路方案 21.5. 逆變電路的變頻控制方案 22. 理論分析與計算 22.1. SPWM產(chǎn)生 22.1.1. 規(guī)則采樣法 22.1.2. SPWM 脈沖的計算公式 32.1.3. SPWM 脈沖計算公式中的參數(shù)計算 32.1.4. TMS320F2812 DSP控制器的事件管理單元 42.1.5. 軟件設(shè)計方法 62.2. MPPT的控制方法與參數(shù)計算 72.3. 同頻、同相的控制方法和參數(shù)計算 8
標簽： tms320f2812 光伏 并網(wǎng)發(fā)電 模擬 protel pcb
上傳時間： 2021-11-02
上傳用戶：
The Verilog Hardware Description Language (HDL) is defined in this standard. Verilog HDL is a formal notation intended for use in all phases of the creation of electronic systems. Because it is both machine readable and human readable,it supports the development,verification, synthesis,and testing of hardware designs; the communication of hardware design data; and the maintenance,modification,and procurement of hardware. The primary audiences for this standard are the implementors of tools supporting the language and advanced users of the language.
上傳時間： 2021-11-09
上傳用戶：
高清電子書-C++ Primer Plus, 第6版英文版 1438頁Learning C++ is an adventure of discovery, particularly because the language accommodates several programming paradigms, including object-oriented programming, generic programming, and the traditional procedural programming.The fifth edition of this book described the language as set forth in the ISO C++ standards, informally known as C++99 and C++03, or, sometimes as C++99/03. (The 2003 version was largely a technical correction to the 1999 standard and didn’t add any new features.) Since then, C++ continues to evolve.As this book is written, the international C++ Standards Committee has just approved a new version of the standard.This standard had the informal name of C++0x while in development, and now it will be known as C++11. Most contemporary compilers support C++99/03 quite well, and most of the examples in this book comply with that standard. But many features of the new standard already have appeared in some implementations, and this edition of C++ Primer Plus explores these new features. C++ Primer Plus discusses the basic C language and presents C++ features, making this book self-contained. It presents C++ fundamentals and illustrates them with short, to-the-point programs that are easy to copy and experiment with.You learn about input/output (I/O), how to make programs perform repetitive tasks and make choices, the many ways to handle data, and how to use functions.You learn about the many features C++ has added to C, including the followi
標簽： C++
上傳時間： 2022-02-19
上傳用戶：trh505
基于FPGA設(shè)計的相關(guān)論文資料大全 84篇用FPGA實現(xiàn)FFT的研究 劉朝暉 韓月秋 摘 要 目的 針對高速數(shù)字信號處理的要求，給出了用現(xiàn)場可編程門陣列(FPGA)實現(xiàn)的 快速傅里葉變換(FFT)方案.方法 算法為按時間抽取的基4算法，采用遞歸結(jié)構(gòu)的塊浮點運 算方案，蝶算過程只擴展兩個符號位以適應(yīng)雷達信號處理的特點，乘法器由陣列乘法器實 現(xiàn).結(jié)果 采用流水方式保證系統(tǒng)的速度，使取數(shù)據(jù)、計算旋轉(zhuǎn)因子、復(fù)乘、DFT等操作協(xié) 調(diào)一致，在計算、通信和存儲間取得平衡，避免了瓶頸的出現(xiàn).結(jié)論 實驗表明，用FPGA 實現(xiàn)高速數(shù)字信號處理的算法是一個可行的方案. 關(guān)鍵詞 離散傅里葉變換； 快速傅里葉變換； 塊浮點運算； 可編程門陣列 分類號 TP39； TN957.511 Implementation of FFT with FPGA Technology Liu Zhaohui Han Yueqiu (Department of Electronics Engineering, Beijing Institute of Technology, Beijing 100081) Abstract Aim To propose a scheme for implementing FFT with FPGA in accor-dance with the requirement for high speed digital signal processing. Methods The structure of FPGA and requirement of system were considered in the experiment, radix-4 algorithm of DIT and recursive structure were adopted. The group float point arithmetic operation was used in the butterfly and the array multiplier was used to realize multiplication. Results The pipeline pattern was used to ensure the system speed, it made fetching data, calculating twiddle factor, complex multiplication and D
標簽： fpga
上傳時間： 2022-03-23
上傳用戶：
目前電動汽車主要以鋰電池作為動力來源,為了提高鋰電池的使用時間和安全性,為鋰電池提供安全良好的運行環(huán)境,電池管理系統(tǒng)應(yīng)運而生。BMS主控單元基于S32K144汽車級單片機,通過主從式網(wǎng)絡(luò)控制結(jié)構(gòu)能夠?qū)︿囯姵氐母鱾€參數(shù)進行采集與分析。采用擴展卡爾曼濾波對電池的荷電狀態(tài)(SOC)進行估算,克服普通估算方法無法避免電池內(nèi)阻誤差的缺點,通過Matlab/Simulink軟件仿真驗證可使估算誤差達到2%以內(nèi)。At present,electric vehicles mainly use lithium batteries as the power source.In order to improve the running time and safety of lithium batteries,a safe and good operating environment for power batteries is provided,and a battery management system(BMS) has emerged.The BMS main control unit is based on the S32K144 automotive-grade control chip.Through the master-slave network control structure,it can collect and analyze the various parameters of the lithium battery.The Extended Kalman Filter(EKF) is used to estimate the state of charge(SOC) of the battery,which overcomes the shortcomings of the internal estimation method that cannot overcome the internal resistance error of the battery.It can be verified by Matlab/Simulink software simulation.The estimation error is within 2%.
上傳時間： 2022-03-26
上傳用戶：XuVshu
對某四輪獨立驅(qū)動電動汽車輪轂電機進行研究,設(shè)計一種永磁無刷直流電機控制器.以STM32F103RBT6芯片為基礎(chǔ),對電機驅(qū)動電路、采樣電路和保護電路分別進行硬件設(shè)計與分析;同時,采用模塊化軟件設(shè)計方案,對該控制器的軟件系統(tǒng)進行升級.實驗驗證表明:所設(shè)計的電機控制器能使電機響應(yīng)迅速、轉(zhuǎn)速穩(wěn)定、無超調(diào),且電動車動力輸出性能良好.A permanent magnet brushless direct current motor controller was designed by studying the hub motor of a four-wheel independent drive electric vehicle.Based on STM32 F103RBT6 chip,the hardware design and analysis of motor drive circuit,sampling circuit and protection circuit were carried out respectively.At the same time,modular software design scheme was adopted to upgrade the software system of the controller.Experimental results show that the designed motor controller can ensure the motor fast response,stable speed,no overshoot,and good power output performances.
上傳時間： 2022-03-26
上傳用戶：qingfengchizhu
設(shè)計了農(nóng)業(yè)溫濕度智能控制系統(tǒng),該系統(tǒng)采用DHT11溫濕度傳感器作為溫濕度采集模塊,單片機選用AT89C52代替并調(diào)用Virtual terminal模擬串口通信,LCD1604液晶顯示器實時顯示溫濕度,實現(xiàn)了溫濕度的測量、顯示,可自動控制加熱、降溫、加濕、通風(fēng),實現(xiàn)溫濕度控制以及超限報警處理,并利用Proteus與Keil進行實際電路的仿真。試驗表明,該系統(tǒng)實現(xiàn)了可靠的溫濕度監(jiān)控。We described the design of an intelligent control system of agriculture temperature and humidity.The system uses DHT11 temperature and humidity sensor as the temperature and humidity acquisition module.The SCM adopts AT89C52 to replace and call the virtual terminal for simulating serial communication.LCD1604 displays temperature and humidity in real time,which implements the measurement and display of temperature and humidity.The system is able to automatically control heating,cooling,humidification and ventilation,to achieve temperature and humidity control and over-limit alarm processing.The system also uses Proteus and Keil for actual circuit simulation.The experiment shows that the system is capable of reliable temperature and humidity monitoring.
上傳時間： 2022-03-26
上傳用戶：aben
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