In this study, we aim at obtaining inverse kinematic model of a serial manipulator using spatial operator algebra. For testing the inverse kinematic algorithm, the Vpython software program which has simultaneous view ...In this study, we aim at obtaining inverse kinematic model of a serial manipulator using spatial operator algebra. For testing the inverse kinematic algorithm, the Vpython software program which has simultaneous view and software working, is used. The aim is to measure the inverse kinematics modeling work on different serial manipulator mechanisms with spatial vector algebra. The algorithm is used with the same reference inputs on the recursive, exact and nonrecursive manipulators. During the tests, the permitted error tolerance is 0.01 cm. The graph plots show that the algorithm is fit for the error tolerance.展开更多
文摘针对C语言白盒测试用例自动生成问题,提出一套基于过程间的动态符号执行框架,建立基于Def-Use链和函数执行树的模型。以函数为单位进行约束收集,解决函数调用中实参和形参的符号统一问题;对过程间动态符号执行的SMART(systematic modular automated random testing)算法进行改进,利用其计算和使用函数摘要,提高动态符号执行的效率和可行性。该方案为C语言过程间测试自动化工具的实现提供了详细的解决方案。
文摘In this study, we aim at obtaining inverse kinematic model of a serial manipulator using spatial operator algebra. For testing the inverse kinematic algorithm, the Vpython software program which has simultaneous view and software working, is used. The aim is to measure the inverse kinematics modeling work on different serial manipulator mechanisms with spatial vector algebra. The algorithm is used with the same reference inputs on the recursive, exact and nonrecursive manipulators. During the tests, the permitted error tolerance is 0.01 cm. The graph plots show that the algorithm is fit for the error tolerance.
