查询词典 Jacobian

The definition and stability criterion of resonant operating points in a CPT system have been described. A Poincarémapping model has been built up and its Jacobian matrix has been derived with the implicit function derivative rule and chain rule. Then the stability of the fixed points can be determined according to the eigenvalues of the the Jacobian matrix. It has been used to study an example push-pull CPT system with three resonant operating points.

文中给出了CPT系统中谐振点的定义及判断条件，建立了系统的庞加莱映射模型，并根据隐函数及复合函数求导法则，推导出了系统庞加莱映射周期不动点的雅可比矩阵，根据雅可比矩阵的特征值分布情况，即可判断各不动点的自治振荡稳定性。

When the actuated joint was rotary actuation, kinematic Jacobian matrix of the manipulator was a diagonal matrix. So it was an uncoupled mechanism. As the actuated joint was linear one, Jacobian matrix of the manipulator was an identity 3×3 matrix and its determinant was equal to one. Manipulator, therefore, was singularity-free fully-isotropic throughout the entire workspace.

当以转动输入为主驱动时，运动雅可比矩阵为3×3阶对角阵，故机构为无耦合并联机构；当以移动为主驱动时，雅可比矩阵为3×3阶单位阵，且其行列式的值为1，所以在整个工作空间内机构表现为无奇异完全各向同性。

Those problems include inverse position analysis of the machine, inverse and direct position analysis of the parallel locking mechanism, relationships of velocity and acceleration between cutter and actuators, Jacobian matrix of the machine, forward position computation of the machine, the links'velocity and acceleration of the driving chains, the links'velocity and acceleration of the locking mechanism, kinematics simulation of the machine, and so on. The Jacobian method presented in the thesis to calculate the direct position of the machine is of high efficient.

其中包括机床的位置逆解分析，平行机构的位置逆解分析，机床刀具与各主动关节之间的速度和加速度映射关系的求解，并联机床雅可比矩阵的计算，并联机床的位置正解计算，支链构件的速度和加速度计算，平行机构各构件的速度和加速度计算以及机床各运动学指标的仿真计算等。

To the problem that the isotropy and the technological efficiency of the parallel kinematic machine based on Stewart platform are not satisfactory, a novel architecture of 6-DOF 3-dimensional platform parallel kinematic machine (6-DOF 3-D PPKM) based on the 2-2-2-SPS 3-D PPR is presented. The technological efficiency of design of the parallel kinematic machine is analyzed. Its workspace and the effect of design parameters to the workspace volume are studied. By using the submatrices of Jacobian matrix and force Jacobian matrix, the kinematics/mechanics transmission isotropic indices, kinematics transmission indices, load-bearing capacity indices at any configuration of the parallel kinematic machine are proposed, respectively.

分析其结构和装配工艺性，研究其定位姿工作空间及机床结构参数对工作空间大小的影响，基于Jacobian矩阵和力Jacobian矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的运动／力学传递各向同性评价指标、运动学传递能力评价指标和承载能力评价指标；基于柔度矩阵中同量纲元素构成的子阵，提出该并联机床在任意位姿的力-位置柔度评价指标、力-姿态柔度评价指标、力矩-姿态柔度评价指标和力矩-位置柔度评价指标；研究各性能指标在定位姿工作空间内的分布情况。

The paper presents the formulation of the inverse kinematics of the 3-RSS/RU parallel mechanism and analyzes the direct solution. It deduces velocity Jacobian matrix. The moment transfer Jacobian matrix is obtained base on the principle of virtual work and simulated the input and output.

本论文首先推导了3-RSS/RU并联机器人的运动学反解方程，并对位置正解进行了分析，推导了速度雅可比矩阵，在此矩阵的基础上，利用虚功原理得到了力矩传递雅可比矩阵，对力矩的输入输出做出了仿真。

It is shown that the self-motion is regular by the extended Jacobian method, while the self-motion is chaotic by the pseudoinverse of the Jacobian method.

研究表明：基于扩展Jacobian矩阵方法求解冗余度机器人运动学逆解时其自运动是规则的周期运动，而基于Jacobian矩阵的伪逆求解冗余度机器人运动学逆解时其自运动是混沌的

Third, this paper proposes a method of dealing with singularity of Jacobian matrix of robot manipulator, then introduces singular robust inverse matrix of Jacobian matrix.

并在拉格朗日—欧拉方程的基础上给出了机器人操作器的动力学方程，对动力学方程中的惯量项、重力载荷项进行了简化，并给出了哥氏力和离心力项的简单求法。

In this paper an analog computer for the determination of the Jacobian of a mapped quantity is presented. This compute can rapidly determine the Jacobian from the analyzed synoptic weather chart -with sufficient accuracy.

本文提出了一种计算天气图上某些物理量的雅可此式的模拟方法，应用这种计算机可以迅速的并足够精确的从事在实际工作中经常遇到的这种计算。

In order to compensate the time-delay, local fitting Jacobian matrix with time-delay compensation based on polynomial fitting is employed to obtain more accurate Jacobian estimation and image precompensation.

为了补偿时延，本文采用局部拟合方法估计图像雅可比矩阵，以获得当前时刻更准确的图像雅可比矩阵估值，并可对图像预补偿。

Inorder to compensate the time-delay,local fitting Jacobian matrix with time-delay compensation based on polynomial fittingis employed to obtain more accurate Jacobian estimation and image precompensation.

为了补偿时延，本文采用局部拟合方法估计图像雅可比矩阵，以获得当前时刻更准确的图像雅可比矩阵估值，并可对图像预补偿。

According to our present broadcasting situation,the thesis proposes using new technology to update and reform the present HFC. It also suggests broadcasting using self-advantage and arranging EPON in order to win the supermarket.

论文从我国广电的现状出发，结合实际，积极倡导采用新技术更新、改造我国现有的HFC网络；倡导广电现阶段利用自身优势，部署EPON网络来赢取市场。

A new general kinetic equation was derived in which the effect of the removal of condensation water was taken into account completely, and was applied to the polyesterification kinetic study of AA/HPHP and AA/NPG. It was found that the reaction order of self-catalyzed polyesterification was not constant. For these polyesterifications, the reaction order was 2.5 at a low temperature, while 3.0 at a high temperature.

考虑缩合水的排除对反应体系的影响，用体积浓度单位推导出一个新的聚酯反应总包动力学方程，并应用到AA/HPHP和AA/NPG两个聚酯化反应的动力学研究中，研究发现，自催化聚酯反应的反应级数并不是固定值，对于AA/HPHP和AA/NPG两个聚酯化反应而言，低温时反应级数为2.5，高温时反应级数为3.0。