- 更多网络例句与运动学相关的网络例句 [注：此内容来源于网络，仅供参考]
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A motion reference coordinate system of this quadruped robot and its simplified-structure of the multi-rigid body dynamics model are established. After kinematic and dynamic analysis, the kinematic equation, inverse kinematic equation and Jacobi matrix of the quadruped robot are presented, and the second kind of Lagrange dynamic equation group for simplified-structure of the quadruped robots multi-rigid body system is educed.
建立了该机器人的运动坐标体系，及其等效简化结构的多刚体动力学模型，对上述模型进行了运动学和动力学分析，给出了该机器人的运动学、逆运动学方程和雅可比矩阵，并导出了其简化结构多刚体系统的第二类Lagrange动力学方程组。
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Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.
首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。
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Around the topic, the weak points of the traditional platform is analyzed first, such as complex arithmetic, long calculating time, high needs of hardware and so on. A real time control method based on virtual simulation is suggested to separate the complex positive/negative calculation of space kinematic and real time motion control. And a"3-2-1"type 6DOF platform is designed with the reference of the MAST (Multi-Axis Shaking Table) of MTS. The kinematic and dynamic calculation of the platform is finished. According to the calculating result, the control system of the"3-2-1"type 6DOF platform including 6 linear servo electric cylinders is designed and constructed. And the professional software Pro/E is used to do the 3D model and 6DOF motion simulation of the platform. The motion curves of the pistons of the 6 cylinders are exported with the simulation. At last the control software is programmed with Microsoft Visual Basic 6.0 and realizes the functions with the commands of GE series motion controllers. When loading the motion curves exported with the simulation, every cylinder can follow the curve very well and the platform realizes the hoped 6DOF motion.
围绕选题，本论文首先分析了传统的运动平台控制方法所存在的算法复杂、解算耗时长、硬件需求高的缺点，提出了一种基于虚拟仿真的实时控制方法，该方法将复杂的空间运动学正、反解与实时运动控制相分离；之后，参考MTS公司的MAST多轴振动平台，设计了新型的"3-2-1"型六自由度平台，并进行了运动学及动力学计算，根据相关计算结果，设计与搭建了包括驱动6个直线伺服电动缸在内的"3-2-1"型六自由度平台控制系统；接着，使用Pro/E对"3-2-1"型六自由度平台进行了三维建模和六自由度运动学仿真，并由仿真直接获得了6个直线伺服电动缸的活塞杆的相应运动曲线；最后使用Microsoft Visual Basic 6.0编写了控制软件界面，通过调用GE系列运动控制卡的各种命令函数实现了控制系统的相关功能，而当加载仿真得到的各缸运动曲线后，每缸均能很好地跟踪输入曲线，使平台实现了期望的多自由度运动。
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Dead reckoning of mobile robot in complex terrain is analyzed by therigid-body kinematic constraints of mobile robot that is on the basis oflocomotion architecture with the wheeled and rocker-bogie suspension system.At the same time, the kinematic model of mobile robot is obtained using themultiple sensors information from odometry, fiber optic gyro, tilt sensor, et al.
根据刚体运动学的约束分析了一种轮式结构与悬浮式摇架系统相结合的移动机器人在复杂地形下的航迹推测，采用里程计、光纤陀螺仪、倾角传感器等传感器信息推导移动机器人的运动学模型，提出一种运动学模型与车轮。
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Firstly, this dissertation carries out bionic research on the motion of fish body and caudal fin of Thunmiform swimmers in one-dimensional steady swimming for the purpose of establishing kinematic model of underwater propulsor of Thunmiform. This paper also presents the kinematic parameters which describe the motion of fish body and caudal fin, the fundamental approach to getting the propulsion force and the factors related to the propulsion force and efficiency.
首先，从建立仿鲹科加新月形尾鳍推进模式水下推进器运动学模型的目的出发，对采用鲹科加新月形尾鳍推进模式的鱼类在一维稳态游动情况下的身体以及尾鳍的运动进行了仿生学研究，研究了推进运动的基本特征，给出了身体及尾鳍的运动状态、描述其运动的运动学参数、推进力产生的基本途径以及与推进力和推进效率有关的因素，从而为仿鱼水下推进器运动学建模与仿真提供了仿生学基础。
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This paper analyses the verse and inverse kinematics of HP99 stacker robot and solves these two problems.
对HP99型堆垛机器人进行了正运动学和逆运动学问题的分析，分别求出了正运动学解和逆运动学解。
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On the basis of kinematics analysis and model transformation, an error equation of the robot kinematics parameter is established with numerical optimization, and the optimal design for kinematics parameter is realized, which effectively increases the repositioning precision of the robot.
在运动学分析和模型变换的基础上，运用数值优化技术建立了机器人运动学参数的误差方程，实现了运动学参数的优化设计，有效提高了机器人的重复定位精度。
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The following is the solution of kinematics and inverse kinematics of robot, including setting the kinematic equation by unchaining the closed chains.
在此基础上，建立机器人的运动学和逆运动学方程，其中运动学部分将该机器人的混合链结构化解成为等效的开链结构，建立开链的运动学关系。
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The results simulated with MATLAB demonstrate that the proposed mathematical model and connecting rod parameters are reasonable,all joint motions are correct and cotton-picking is realized.Based on the kinematics research of the single manipulator,the path planning and aiming to avoid obstacle will be investigated.
根据D-H法则和机械手的结构参数，建立了单机械手的运动学模型，采用反变换法求解运动学逆问题，利用MATLAB仿真，验证了所建模型和所有连杆参数的正确性，保证了机械手各关节的准确运动，实现了棉花的实时、高效采摘，并且可以在上述机械手运动学模型基础上开展轨迹规划和避障等技术研究。
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Kinematics simulation of four-foot RobotBefore 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.
在此基础上，运用机构运动的运动学原理和逆运动学原理，确定了四足机器人足端、躯体、膝关节等的运动轨迹，建立了四足机器人各种基本运动如行走、转弯等的运动学模型。
- 更多网络解释与运动学相关的网络解释 [注：此内容来源于网络，仅供参考]
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kinematical compatibility condition：运动学相容性条件
kinematic viscosity 运动粘性 | kinematical compatibility condition 运动学相容性条件 | kinematical constraint 运动学约束
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kinematics：运动学理论
位置正解:forward position kinematics | 运动学理论:Kinematics | 运动学解析:kinematics solution
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kinematics：运动学特征
运动学分析:Kinematics analysis | 运动学特征:Kinematics | 运动学模型:Kinematics model
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kinematical equation：运动学方程
kinematical derivative 运动学导数 | kinematical equation 运动学方程 | kinematical relativity 运动学相对性
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kinematical derivative：运动学导数
kinematical constraint 运动学约束 | kinematical derivative 运动学导数 | kinematical equation 运动学方程
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kinematical constraint：运动学约束
kinematical compatibility condition 运动学相容性条件 | kinematical constraint 运动学约束 | kinematical derivative 运动学导数
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kinematical relativity：运动学相对性
kinematical equation 运动学方程 | kinematical relativity 运动学相对性 | kinematics 运动学
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kinematically：运动学上地
kinematic 运动学的 | kinematically 运动学上地 | kinematics 运动学
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phoronomics：纯运动学 运动学
phorone 佛尔酮 二异亚丙基丙酮 | phoronomics 纯运动学 运动学 | phoronomy 运动论 纯运动学
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phoronomy：运动论 纯运动学
phoronomics 纯运动学 运动学 | phoronomy 运动论 纯运动学 | phoropter 综合屈光检查仪