What is Documentum

Documentum是一款企业级的内容管理软件,提供包括版本控制、工作流管理等在内的全面内容管理服务。该产品采用三层客户端-服务器架构,利用关系型数据库进行元数据存储,并将文档内容作为二进制大对象(BLOB)保存。Documentum产品家族包括核心的ContentServer、快速索引服务FASTindexServer、转换服务ContentTransformationServer等。

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What is Documentum?
Documentum is an enterprise content management software that provides management of content
and attributes such as check-in, check-out, workflow, and version management. The Documentum
product is a three-tier, client-server system built on top of a relational database.
A Docbase is a Documentum repository that stores document content, attributes, relationships,
versions, renditions, formats, workflow, and security.
Documentum Query Language (DQL), an extended SQL dialect, is used to query Documentum
data.
A Docbase is the equivalent of an RDBMS instance plus document content files. The metadata is
stored in the underlying relational database management system (RDBMS), and the content is
stored as binary large objects (BLOBs) in the database or as files stored within the file-system of
the server system.

 

Documentum product family
-Content Server

Content Server is the core functionality that allows users to create, capture, manage,deliver, and
archive enterprise content. Content Server provides full set of standard content management
services, including library services (check in and check out), version control, and search
capabilities.
-FAST index Server
Enables you to rapidly locate information in a repository. FAST index server indexes all content
files and properties in a repository, creating a searchable index.
-Content Tranformaton Server
A suite of Documentum server products that perform transformations and analysis on repository
content. CTS include ADTS, DTS, MTS and XTS.
-DFC
Known as documentum foundation classes. Key part of the Documentum software platform. Java
based. Provides an object-oriented framework for accessing the capabilities of the Content Server.
Can be used by developers.

-Content Service for SAP (SAP econnector)
Provides the following functions:
• Enables users to easily access and display documents stored in a Documentum repository from
a variety of SAP modules.
• Links documents stored in Documentum to a variety of SAP documents.
• Archives SAP data, reports, and documents through ArchiveLink certified interfaces in
Documentum.
• Stores and manages reports and outgoing documents in Documentum.

-Webtop
An easy-to-use interface that allows users to access Documentum repositories and content
management services within a standard browser application.
-DAM (Digital Asset Manager)
An easy-to-use interface that allows users to access Documentum repositories and content
management services within a standard browser application.
-DA
Documentum Administrator enables you to monitor, administer, configure, and maintain
Documentum servers, repositories by a web browser.
-Composer
Documentum Composer provides tools to create and customize applications for Documentum
Content Server.
Composer is an Eclipse-based product, usually used by developers.

-SCS
Documentum Site Caching Services publishes documents from a Documentum repository directly
to a local site, allowing you to combine the versioning, workflow, document lifecycle, and other
content management capabilities of Documentum with the accessibility of a website.

资源下载链接为: https://pan.quark.cn/s/67c535f75d4c 在机器人技术中,轨迹规划是实现机器人从一个位置平稳高效移动到另一个位置的核心环节。本资源提供了一套基于 MATLAB 的机器人轨迹规划程序,涵盖了关节空间和笛卡尔空间两种规划方式。MATLAB 是一种强大的数值计算与可视化工具,凭借其灵活易用的特点,常被用于机器人控制算法的开发与仿真。 关节空间轨迹规划主要关注机器人各关节角度的变化,生成从初始配置到目标配置的连续路径。其关键知识点包括: 关节变量:指机器人各关节的旋转角度或伸缩长度。 运动学逆解:通过数学方法从末端执行器的目标位置反推关节变量。 路径平滑:确保关节变量轨迹连续且无抖动,常用方法有 S 型曲线拟合、多项式插值等。 速度和加速度限制:考虑关节的实际物理限制,确保轨迹在允许的动态范围内。 碰撞避免:在规划过程中避免关节与其他物体发生碰撞。 笛卡尔空间轨迹规划直接处理机器人末端执行器在工作空间中的位置和姿态变化,涉及以下内容: 工作空间:机器人可到达的所有三维空间点的集合。 路径规划:在工作空间中找到一条从起点到终点的无碰撞路径。 障碍物表示:采用二维或三维网格、Voronoi 图、Octree 等数据结构表示工作空间中的障碍物。 轨迹生成:通过样条曲线、直线插值等方法生成平滑路径。 实时更新:在规划过程中实时检测并避开新出现的障碍物。 在 MATLAB 中实现上述规划方法,可以借助其内置函数和工具箱: 优化工具箱:用于解决运动学逆解和路径规划中的优化问题。 Simulink:可视化建模环境,适合构建和仿真复杂的控制系统。 ODE 求解器:如 ode45,用于求解机器人动力学方程和轨迹执行过程中的运动学问题。 在实际应用中,通常会结合关节空间和笛卡尔空间的规划方法。先在关节空间生成平滑轨迹,再通过运动学正解将关节轨迹转换为笛卡
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