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A novel approach of joint gravity and gravity gradient inversion is presented for passive subsurface object detection in this letter. Gravity and gravity gradient anomalies induced by an object can be measured and inversed to estimate the mass, orientation, and distance of the object. The new equations of gravity inversion are explored, and the weighted least squares estimation is constructed. Therefore,...
Visual simulation provides a new effective approach to study the lunar rover in all aspects. Accurate wheel-terrain interaction is very critical for visual simulation of lunar rover. A lunar rover 3D model was created by Multigen Creator. With Vega as the visual simulation platform, wheel-terrain interaction is realized, the inverse kinematics of lunar rover are solved. The key techniques, such as...
Parallel robots have very good performance in terms of rigidity, strength-to-weight ratios and positioning accuracy. A 2-DOF redundantly actuated parallel robot is taken as the object of study in this paper. As far as trajectory tracking performance, controller is essential. In order to improve the trajectory tracking performance, a neural network PID (proportion integral differential) controller...
Based on the characteristics of serial joints and parallel joints, we put forward a tooth-arrangement robot composed of a kind of 5 degrees of freedom mechanism of serial structure and parallel structure. Through the analysis of the tooth-arrangement robot mechanism, the equation of kinematics has been built. We analyze the question of inverse kinematics and deduce the matrix of position and gesture...
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