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。

Analyzing the kinematics problem of the YJP-1 vision-servo redundant robot, the kinematics equation of the single arm has been established, the Jacobian matrix of front four joint has been formed using a new method.

对YJP-1型冗余度机器人进行了运动学分析。用D-H方法建立了YJP-1型冗余度机器人单臂的运动学方程。运用一种新的方法建立了YJP-1型机器人前面四个决定末端抓手位置的自由度的Jacobian矩阵。

Through researching the extra singularities of decomposed Jacobian matrix, an approach resulted from adjusting velocity homogeneous item in real-time is proposed to effectively take account of the contradiction between stability and end state self-motion. Thus, some modified dynamic optimal schemes are deduced.

通过研究Jacobian矩阵分解的算法奇异性，提出实时调节速度齐次项的方案，可有效兼顾稳定性和终态自运动的双向矛盾要求，并推导了若干改进的动力学优化方案。

A new sign pattern K with 2n nonzero entries is given. It is proved that n×n (n≥6) sign pattern K is a minimal spectrally arbitrary pattern by using the Nilpotent-Jacobian method.

本文给出了一个新的含有2n个非零元的符号模式K，运用Nilpotent-Jacobian方法证明了n阶(n≥6)符号模式K是极小谱任意模式。

Based on the nonlinear static equilibrium equations of the system, the force singularity is described by the determinant and condition number of the Jacobian matrix clearly.

基于系统的非线性静力平衡方程，根据力传递Jacobian矩阵的行列式和条件数，剖析了工作空间内部的力奇异性。

For the space robot system without condition control, according to the principle of momenta conservation, The Kinematic model is constructed using the general Jacobian matrix.

对于载体无位置控制的空间机器人系统，根据动量守恒定律，应用广义Jacobian矩阵建立了系统的运动学模型。

Extensive research has been carried out under the hypothesises such as fixed number of constraints in one dynamic system, nondegenerative Jacobian of constraints, ideal and bilateral constraints. If one or more of these hypothesises are violated, inconsistency in state space may appear.

然而，目前有待发展的经典力学理论中有一些假设性的前提，例如约束的数目保持不变，约束的Jacobian非退化，约束是理想的，同时对含单边约束的系统研究甚少。

Firstly, we analyze the singularity conditions and separate the singularity parameters from the Jacobian inverse. Then, the damped reciprocals are used to avoid the singularities by replacing their reciprocals.

首先， 分析产生奇异的条件，将导致 Jacobian 奇异的参数分离出来，然后用阻尼倒数代替其普通倒数，以回避运动学奇异的影响。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。