为实现机械臂精确的轨迹规划与实时位置跟踪,针对GALIL DMC控制板卡,设计了工业机械臂实时位置跟踪控制系统和轨迹规划算法,使用REbot-V-6R六自由度机械臂完成了汉字轮廓绘制。首先,编程提取Windows自带的true type font(TTF)矢量字库...为实现机械臂精确的轨迹规划与实时位置跟踪,针对GALIL DMC控制板卡,设计了工业机械臂实时位置跟踪控制系统和轨迹规划算法,使用REbot-V-6R六自由度机械臂完成了汉字轮廓绘制。首先,编程提取Windows自带的true type font(TTF)矢量字库的汉字轮廓信息,使用插补算法重新进行轨迹规划;然后,建立了六自由度机械臂的运动学模型,设计了机械臂末端位置控制器;最后,采用位置跟踪模式实现机械臂的运动控制,实现了机械臂的汉字书写功能。展开更多
Urbanization has caused significant landscape changes in rural areas,leading to the emergence of urbanized landscapes(ULs),which have been generally criticized by authorities and professionals.However,perceptions of U...Urbanization has caused significant landscape changes in rural areas,leading to the emergence of urbanized landscapes(ULs),which have been generally criticized by authorities and professionals.However,perceptions of ULs among local residents have rarely been studied.In this study,we chose five typical categories of ULs from rapidly transforming villages in Fujian Province,China–hardened water bank(HWB),big pavilion(BPA),big memorial arch(BMA),big ornamental lawn(BOL),and big square(BSQ)to do the study.We identified how these ULs were rated and ranked by on-site surveys,as well as how related aesthetic and multifunctional landscape characters(LCs)played a role.The results(N=550)showed that 1)residents supported the construction of ULs,and the most preferred category was that with the most natural elements(BOL)that was simultaneously well maintained.2)For the residents,the longer they had resided in the village and the fewer connections they had with the city,the more in favor they were of the ULs,and the more eager they were for landscape change.In addition,residents with higher education and Communist Party of China membership valued the naturalness related LCs more highly.3)Two contradictory preference features,naturalness and livability,should be well coordinated and balanced to construct an improved favorable village for the residents,to realize a balanced and sustainable development path.This study makes great theoretical contributions to landscape research and provides new insights into rural planning and construction.展开更多
文摘为实现机械臂精确的轨迹规划与实时位置跟踪,针对GALIL DMC控制板卡,设计了工业机械臂实时位置跟踪控制系统和轨迹规划算法,使用REbot-V-6R六自由度机械臂完成了汉字轮廓绘制。首先,编程提取Windows自带的true type font(TTF)矢量字库的汉字轮廓信息,使用插补算法重新进行轨迹规划;然后,建立了六自由度机械臂的运动学模型,设计了机械臂末端位置控制器;最后,采用位置跟踪模式实现机械臂的运动控制,实现了机械臂的汉字书写功能。
基金National Natural Science Foundation of China,No.42171093Scientific and Innovative Action Plan of Shanghai,No.21ZR1408500+2 种基金Shanghai Pujiang Program,No.21PJ1401600Shanghai Key Lab for Urban Ecological Processes and Eco-Restoration,No.SHUES2021A02China Scholarship Council。
文摘Urbanization has caused significant landscape changes in rural areas,leading to the emergence of urbanized landscapes(ULs),which have been generally criticized by authorities and professionals.However,perceptions of ULs among local residents have rarely been studied.In this study,we chose five typical categories of ULs from rapidly transforming villages in Fujian Province,China–hardened water bank(HWB),big pavilion(BPA),big memorial arch(BMA),big ornamental lawn(BOL),and big square(BSQ)to do the study.We identified how these ULs were rated and ranked by on-site surveys,as well as how related aesthetic and multifunctional landscape characters(LCs)played a role.The results(N=550)showed that 1)residents supported the construction of ULs,and the most preferred category was that with the most natural elements(BOL)that was simultaneously well maintained.2)For the residents,the longer they had resided in the village and the fewer connections they had with the city,the more in favor they were of the ULs,and the more eager they were for landscape change.In addition,residents with higher education and Communist Party of China membership valued the naturalness related LCs more highly.3)Two contradictory preference features,naturalness and livability,should be well coordinated and balanced to construct an improved favorable village for the residents,to realize a balanced and sustainable development path.This study makes great theoretical contributions to landscape research and provides new insights into rural planning and construction.
