查询词典 auxiliary

Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

The cross-semivariogram was then analyzed to explore co-regionalized relationships between soil salinity at both depths, and the apparent soil electrical conductivity measured through electromagnetic induction EM38. CoKriging method was further employed to improve the accuracy of soil salinity estimates by treating soil bulk electrical conductivity as auxiliary variable and soil salinity, at both layers, as primary variable.

在对协同区域化变量进行交互半方差分析的基础上，采用协同克立格法，以电磁感应仪EM38测得的土壤表观电导率作为协同变量，对各层次的土壤盐分进行估值。

It is one of the auxiliary teaching means.

它是教学的一种辅助教学手段。

We will have a network of auxiliary .

我们将有一套辅助的网络系统。

Three types of auxiliary conditions are of interest.

三种辅助条件是有意义的。

He also brought an auxiliary engine with him.

他还带了一个辅助的发电机。

Firstly, we study the properties of these auxiliary functions.

我们首先研究了这几个辅助函数的性质。

I was advised to take auxiliary light.

有时，我的工作是教中年级的学生。

My daughter has been more than three months, what can now be added to her other auxiliary foods?

我的女儿已经有三个多月了，请问现在可以给她添加其它的辅助食品吗？

This is the usage of the auxiliary word "了", it is very complex.

这里涉及的是助词"了"的应用，情况复杂。

She gently rebuff ed him, but agreed that they could be friends

她婉言拒绝了，但同意作为朋友相处。

If in the penal farm, you were sure to be criticized.

要是在劳改农场，你等着挨绳子吧！