查询词典 manipulators

We have had strong robots for some time but usually they have been manipulators, they have not been geared to carrying people around," says Ron Arkin, at the Georgia Institute of Technology and robotics consultant for Sony."

"我们已经制造出许多功能强大的机器人，但他们都是操作机器，还不适合载人"。

Some applications, including archive manipulators, CD/DVD authoring tools and multi-media software also use this directory to temporarily store image files.

一些应用程序，包括包处理程序、光盘创作工具和多媒体软件也使用此目录来临时纯放图像文件。

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 solution of backward and forward kinematics of flexible manipulator must be worked out while you develop a control system for the flexible manipulators.

本文介绍了一种应用双向映射神经元网络来实现柔性臂正、逆运动学计算的方法，利用神经网络输出的结果作为控制变量，来实现柔性臂运动学控制。

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

The reduced dynamic model including motor dynamics is developed for nonholonomic mobile manipulators. The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of robust controller is also addressed for the output tracking of mobile manipulators.

首先给出了包括驱动电机动态特性的非完整移动机械臂的简化动态模型，然后通过微分同胚和输入变换将其分解为四个低阶子系统，并给出了其输出跟踪的滑模控制器设计方法。

Firstly, the reduced dynamic model including motor dynamics is developed for mobile manipulators. The system is then decomposed into four lower-dimensional subsystems by applying diffeomorphism and nonlinear input transformation to the reduced model. The design of the second order dynamical sliding mode controller is then addressed for the output tracking of mobile manipulators.

首先给出了包括驱动电机动态特性的移动机械臂的简化动态模型，然后通过微分同胚和输入变换将其分解为四个低阶子系统，并给出了其输出跟踪的二阶动态滑模控制器的设计方法。

With the view of kinematics equivalence between parallel manipulators and serial manipulators, a supposed serial mechanism which is kinematically equivalent to parallel manipulator and six branches regarded as six branch serial mechanisms are used to generate interation algorithm, which is based on equivalent generalized coordinates.

近年来，并联机器人的研究已成为机器人学研究的热点之一。井联机器人是基于并联闭链机构上开发的。而并联机构是由上下平台及若干分支构成，因此出于末端的高精度以及结构的简洁、紧凑的需要，运动副之间很可能出现因结构设计带来的运动耦合问题。

This paper also extends the neuro-adaptive control approach for continuous-time nonlinear systems based on static variable structure to the motion control of robotic manipulators, and direct and indirect adaptive control of robotic manipulators using NN's are obtained.

将基于静态变结构的连续时间非线性系统神经网络稳定自适应控制方法，推广到机械手的运动控制，得到了机械手静态变结构神经网络稳定自适应控制的间接与直接方法。

Integrated analysis on design theory and control mode of robot manipulators hydraulic driven system at home and abroad have been made in detail, then a new robot manipulators hydraulic driven system based on high-speed on-off valve pilot control is proposed in this paper.

本文在对国内外现有的机械臂液压驱动系统设计理论和控制方式进行了综合分析后，研究了基于高速开关阀先导控制的新型机械臂液压驱动系统。

As she looked at Warrington's manly face, and dark, melancholy eyes, she had settled in her mind that he must have been the victim of an unhappy attachment.

每逢看到沃林顿那刚毅的脸，那乌黑、忧郁的眼睛，她便会相信，他一定作过不幸的爱情的受害者。

Maybe they'll disappear into a pothole.

也许他们将在壶穴里消失