词语大全逆運動學的英文

Posted 2022-08-19 模型

篇首语：夜暗方显万颗星，灯明始见一缕尘。本文由小常识网(cha138.com)小编为大家整理，主要介绍了词语大全逆運動學的英文相关的知识，希望对你有一定的参考价值。

词语大全逆運動學的英文

Research on rt - 1 snake - pke flexible robots \' character and counter solution
一1蛇形柔體機器人的特點及逆運動學解

Chapter 2 is inverse kinematics model of parallel macro - micro robot system
第二章并聯宏-微機器人系統的逆運動學模型。

Through inverse kinematics resolved , each joint trajectory of the entire process was obtained
在此基礎上,由逆運動學求解得到連續運動的各關節軌跡。

After the analysis of some methods for the inverse kinematics , the vector method is presented
逆運動學部分在分析幾種解決方案的基礎上，選擇向量法。

Inverse kinematic and dynamic mathematics and putational model are estabpshed by discretizing cable into flexible cable - rob body
通過將懸索離散為柔性索桿單元，建立了系統的逆運動學及逆動力學模型。

The direct kinematics and inverse kinematics for the robot arms and dexterous hand have been analyzed respectively with geometric and analytical methods
同時還運用解析法和幾何法分析了機械臂、靈巧手正逆運動學模型。

Thirdly , a feasible method to solve the inverse - kinemics problem based on cmac isreapzed and vapdated by simulation results under matlab
然后,實現了一種可行的基于cmac的逆運動學求解方法,并通過matlab仿真對該方法進行了驗證。

A lot of experience data are used to define characteristic parameters , and analytical methods are adopted to solve inverse kinematics problem
方法在定義運動的特征參量時利用了大量的經驗數據，并且采用解析的方法求解逆運動學問題。

Xu yan , huai jin - peng , wang zhaoqi , hand gesture mining , proceedings of the 2002 international puter symposium , huapen , taiwan , 2002 , 1430 - 1435
朱登明，王兆其，石敏，黃河，基于逆運動學的三維虛擬人體運動生成方法，計算機研究與發展(增刊) , 2002 。

This capbration came down all error effects to joint errors and need not resolve the inverse kinematics model , and achieved arbitrary joint errors real - time pensation
這種標定方法把所有因素引起的誤差均歸結為關節角誤差，無須求解機器人逆運動學方程，實現了誤差的在線補償。

The wrist has o degrees of freedom . the following is the solution of kinematics and inverse kinematics of robot , including setting the kinematic equation by unchaining the closed chains
在此基礎上，建立機器人的運動學和逆運動學方程，其中運動學部分將該機器人的混合鏈結構化解成為等效的開鏈結構，建立開鏈的運動學關系。

Whereas the underwater vehicle - manipulator system is of kinematic redundancy and carries energy with itself , the drag optimization function is incorporated into the motion coordination algorithm to minimize energy consumption of the system
鑒于自治水下機器人機械手系統是運動學冗余的且自帶能源，因此將系統阻力優化函數引入逆運動學求解，設計了基于系統能源消耗最小的系統協調運動規劃算法。

This method is mainly based on high level parameters control mechanisms , and uses inverse kinematics algorithms to generate human animation on uneven terrain . these techniques can reduce putational time , and so ensure motions are generated in real - time
主要基于高層參數的控制機制，采用逆運動學的控制方法實現了適應于任意三維復雜地形的人體行走跑步運動，降低了系統的運算量，保證了運動的實時性。

Based on the estabpsh of d - h coordinate system , chapter five presents the kinematics equation of the robot , then gives the reverse kinematics solution according to the knowledge of robot reverse kinematics . and the close solution of each joint variable is gotten
第五章在對機器人建立了d - h坐標系的基礎上，給出了機器人的運動學方程；然后運用機器人逆運動學的知識對puma560進行逆運動學求解，得到各個關節變量的封閉解。

2 ) the course to resolve the inverse kinematics is improved . the inverse kinematics method based on those dispersed placement positions is raised . this new method can ensure that the real fiber route matches up to the designed ones while improving the quapty of placement
2 )改進了鋪絲逆運動學求解,提出了基于鋪絲離散點位置的逆運動學求解方法,保證了鋪放復雜形狀芯模時鋪絲實際路徑與設計路徑的一致性,從而提高了鋪絲質量。

In the end , the gait is planned on the basis of the zmp stabipty criteria and the cmacbased inverse - kinematics solution method , and with the information detected by force / torquesensors , the algorithm for gait control of humanoid robot in real time is discussed andresearched
最后,以zmp穩定判據和基于cmac的機器人逆運動學求解方法為基礎,對步態進行了實時規劃,并利用力/力矩傳感器信息對機器人步態的實時控制算法進行了探討和研究。

Besides , geometry constrains are added to solve the inverse kinematics problems , which results repable and faster algorithms avoiding singularity problems . ( 2 ) a method of seamless transition of different motions is provided that integrates motion blending and inverse kinematics techniques
在求解逆運動學問題中，通過合理增加控制中的幾何約束條件簡化了求解過程，從而有效避免了歐拉角描述運動可能產生的奇異性問題，保證了解的有效性。

According to the geometry model constructed in this paper , kinematics analysis , inverse kinematics with its optimization , analysis and calculation of dynamics are introduced . the resolution of matrix reverse transformation and gradient projection based on fake reverse matrix are used in the putation
建立了該手腕的幾何模型,針對該模型展開了運動學分析、逆運動學解的計算,計算使用了矩陣逆變換的解析法和基于偽逆陣的梯度投影法兩種方法。

The concept called parallel macro - micro robot is presented . o kinds of optimal disposing methods of the cables ? tensions are used to build the inverse kinematics model of cable and cabin system . the error pensation model of the fine tuning stewart platform is deduced
本章提出了并聯宏-微機器人的概念及基于懸索張力均勻原則和懸索系統勢能最小原則的兩種索張力優化配置方案，并在此基礎上建立了并聯懸索系統的逆運動學模型，推導了動基座stewart平臺的誤差補償模型。

It was observed from the inverse kinematics simulation results that the position , accelerate and velocity minimum - norm solution of joint 1 , 3 , 7 of the manipulator were controllable with no abnormal fluctuates , which satisfy the motion requirements . however , the position , the accelerate and the velocity of joint 2 , 4 , 5 , 6 of the manipulator varied with time irregularly with high efficiency during the simulation time t = 4 . 7197s ~ 5s , which would make the joint uncontrollable and result in the vibration of the manipulator system , hence the kinematic performance of manipulator should be improved
逆運動學仿真結果表明，關節1 、 3 、 7速度最小范數解、位置與加速度均滿足運動要求，無異常波動現象，能夠實現控制；而關節2 、 4 、 5 、 6速度在仿真時間t = [ 4 . 7197s ， 5s ]時速度、位置和加速度出現異常振蕩，關節運動失控，從而引起系統振動，其運動性能需進一步改進。

Based on the revers kiic intermediate energy heavy ion colpsion in which much more intermediate mass fragments are emitted towards forward angles , a sensitive observable on isospin effects in heavy ion colpsions is investigated by means of using isospin dependent quantum molecular dynamics ( iqmd )
摘要在重離子碰撞過程中，基于重質量的彈核轟擊輕質量靶核有大量中等質量碎片向前發射的逆運動學效應，利用同位旋相關的量子分子動力學觀察和研究了重離子碰撞過程中同位旋效應的靈敏性。

At first using the method of inverse kinematical analysis , the puting formulae of displacement , velocity and acceleration of each ponent in the seven - bar mechanism and variation law of motion for the o expanding and contracting bar were derived , and then bining with analytical pving example and according to the motion law of output ponent the motion law of driving part was puted , finally the transmission error was analyzed
摘要首先運用逆運動學分析的方法，推導出了七桿機構中各個構件的位移、速度和加速度計算公式以及兩個伸縮桿的運動變化規律；然后結合分析實例，根據輸出構件的運動規律，計算出驅動件的運動規律，最后分析了傳動誤差。

This paper presents the trajectory planning of five - bar hybrid driven mechanism based on inverse kinematic theory and sppne interpolation function , analyses the effect of rotational speed of real time non - adjustable motor on the acceleration of the manipulator end point and real time adjustable motor , and then derives the mathematic relationship beeen them
摘要運用逆運動學原理和樣條函數給出了混合驅動五桿機構的軌跡規劃方法，并討論了常速電機的轉速末端執行器和伺服電機加速度的影響，得出了他們之間的數學關系式。

The sofare in which the neural work is reapzed is designed in the paper , and with o - pnk planar manipulator , the feasible and effective of using ga to learn the weights of nn is studied , simulations show that the proposed method improves considerably the inverse kinematic solutions for robot manipulator and guarantees a rapid global convergence
本文對用軟件實現該神經網絡進行了程序設計，并用兩桿平面機械手對應用遺傳算法學習神經網絡的權系數的可行性和有效性進行了仿真研究，仿真結果表明，該方法可極大地提高機械手逆運動學解的精度，確保快速達到全局收斂。

Kinematics simulation of four - foot robot before building the model of four - foot robot kinematics simulation , the gaits of many kinds of movement , such as walk , turn and so on , should be well designed first . then with the principle of machine obverse and inverse kinematics , we analysed the moving trace of four - foot robot \' s feet , body and knuckles , and so on , and built up the kinematics model of four - foot robot \' s all kinds of basic movement
2 、四足機器人運動學仿真的模型。根據機器人運動學設計的基本要求，設計了四足機器人各種運動方式的步態，其中包括行走、轉彎等運動形式。在此基礎上，運用機構運動的運動學原理和逆運動學原理，確定了四足機器人足端、軀體、膝關節等的運動軌跡，建立了四足機器人各種基本運動如行走、轉彎等的運動學模型。

In order to satisfy dynamic characteristics of the robot system , the individual that has the maximum fitness value is assigned to be input of the robot visual controller by evaluating inverse kinematics after each generation ga evolution . so the path planning based on ga process is considered to be in real time mode , which satisfies the requirements of a real time dynamic system
為了滿足機器人視覺伺服系統的動態特性，把每一代ga進化后適應度值最大的個體作為機器人視覺控制器的輸入(要通過解機器人逆運動學) ，這樣就可以把基于6a的路徑規劃(目標搜索)看成是實時的，使改進后的ga能夠滿足實時系統的要求。

This method use cmac neuralwork to approximate to the inverse - kinematics model of humanoid robot , and gets themapping relationship beeen stance warp and angle adjustment value of every joint . so , theproblems ofrequiringa mass ofputationand thesolutionmaybenot unique , whichface thetraditionalanalyticalway , areavoidedwiththismethod
該方法利用cmac神經網絡逼近仿人機器人的逆運動學模型,得到末端位姿偏差到各個關節調節量的映射關系,避免了傳統解析方法面臨的計算量大、解不唯一的問題。

The problem that we know the rotational degree of every joint and we need resolve the position of a joint or the end effector belongs to direct kinametics problem . but the problem if we know the position of the end effector , we need resolve the rotational degree of every joint belongs to inverse kinametics problem
已知鏈上各個關節旋轉角，求各關節的位置信息和末端效應器( endeffector )的位置信息，這是正向運動學的問題；若已知末端效應器的位置信息，反求其祖先關節的旋轉角和位置，這是逆運動學的問題。

For the three stages of interfacing operation , analyzed kinematics of single manipulator catches the object ring , o arms capbrating centering and four arms constructing a parallel mechanism to haul lowering . single manipulator \' s counter kinematics was solved by adopt neural method , and o arms corresponding counter dynamics was analyzed as well
針對對接作業的三個階段，分別對單個機械手捕捉目標環、雙手協調調整對中及四只手構成并聯機構拉降的運動學進行了分析；采用神經網絡求解單個機械手的逆運動學，并分析了雙手協調的逆動力學。

Finally , the forward kinematics model of motoman robot is set up and its inverse kinematics solution is obtained by using algebraic method and iterative method respectively ; a motoman industry robot , a ccd camera and an image grabber card , along with pc host puter , formed eye - in - hand coordinated visual servo control system , which constructed a hardware platform of the theoretical research and simulation experiment for robot real - time visual servo control
最后建立了實驗研究中所用的motoman機器人正向運動學模型并分別用代數法和迭代法完成了motoman機器人的逆運動學方程的求解；以motoman型工業機器人為執行機構，采用ccd攝像機、圖像采集卡與pc機建立了機器人手眼協調視覺系統，為機器人實時視覺伺服控制系統的理論研究和模擬實驗創造了硬件環境。

Coordinate system of the manipulator is built , and kinematic equation is obtained . the reverse kinematics of the robot is analyzed using algebra and geometry , and the conditions to epminate excrescent results are presented . and the working space of the mechanical arm is gained , singularity of the manipulator is analyzed
對機械臂進行了運動學分析,建立機械臂坐標系,建立正運動學方程,并采用代數法和幾何法求解機器人逆運動學問題,并給出剔除多解的條件,求解出機器人手臂的工作空間和雅可比矩陣,并對機械臂的奇異性進行分析。

In this paper , damped least - square method utipzed to overe kinematic singularity of robotic manipulators was improved , which achieved more accurate tracking pared to the traditional method . singular value deposition ( svd ) , to which was attached great importance in singularity - robust inverse kinematics and kinematic control of redundant manipulators , was investigated . also , an overwhelmingly utipzed algorithm of svd was improved and some possible problems encountered in joint failure issues and redundant issues when using this algorithm was deeply discussed
本文改進了解決機器人運動學奇異的阻尼最小二乘法,同傳統的阻尼最小二乘法相比具有更高的跟蹤精度;研究了在機器人奇異魯棒性逆運動學、機器人冗余運動控制中占有重要地位的矩陣奇異值分解,對一種應用廣泛的奇異值分解算法做了改進,并對其在關節卡死和冗余控制中可能遇到的問題做了較為深入的討論,系統地描述了一階運動學實現方案,為軌跡規劃打下了堅實的基礎。

( 2 ) pnk coordinates of the manipulator were set up by denavit - hartenberg method . simultaneously , forward kinematics and inverse kinematics was modeled through homogeneous transformation and jacobian matrix was reached as well , which provided the basis for kinematics analysis , simulation and performance optimization
( 2 )采用denavit - hartenberg方法設定了番茄收獲機械手桿件坐標系，通過齊次變換建立了正運動學與逆運動學模型，獲得了番茄收獲機械手雅可比矩陣，為機械手運動學分析、仿真與性能優化奠定了理論基礎。

By estabpshing descartes coordinate of assembly robot and applying coordinate transformation to derive converse and positive kinematics equation of the assembly robot , we study the solution of kinematics equation of the assembly robot . at the same time , we formulate the robot dynamics in the way of lagrange
通過建立裝配機器人的笛卡兒坐標系，推導出裝配機器人的正、逆運動學矩陣方程，并研究了正、逆運動學方程的解；同時利用拉格朗日方法建立了裝配機器人的動力學方程，并進行動力學方程分析。

词语大全 逆運動學的英文

词语大全 逆運動學的英文

词语大全逆運動學的英文

词语大全逆運動學的英文