查询词典 trajectory

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 methods of trajectory planning and trajectory generating are analyzed both in joint coordinates space and Cartesian coordinates space based on kinematics of robot.

在机械手运动学和动力学的基础上，讨论在关节空间和笛卡儿空间中机器人运动的轨迹规划和轨迹生成方法。

So we can only plan trajectory in Cartesian, but planning trajectory in Cartesian space is more complex than in joint space. Third, a new method of analyzing kinematics of space robot was described.

因此我们只能用笛卡尔空间轨迹规划方法对其进行规划，而传统的笛卡尔空间轨迹规划方法相对于关节空间轨迹规划方法要复杂的得多。

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 study shows that in the radial direction the dynamic forces acting on the particle balance on the particle itself; there is not a so-called trajectory of the particle in which the composition of forces acting on the particles is zero, but there is a trajectory of the particle in which the radial slip velocity of particle is zero, the tra...

通过对固体颗粒的运动和受力分析发现固体颗粒在沉降过程中径向合力几乎处处为零，不存在所谓的径向合力为零的一个平衡轨迹面，但存在着一个径向沉降速度为零的轨迹面，这一轨迹面就是平衡轨迹面法所要寻找的；首次推导出了该轨迹面半径与固体颗粒直径、水力旋流器自身几何参数以及操作参数之间的定量表达式。

This algorithm changes the detect points on the target trajectory to the respective curve in parameter space, which takes full advantages of the target detect data in a certain period, and the trajectory characteristics can also be picked up even under low SNR.

该算法把航迹上的观测点变换为参数空间的对应曲线，充分利用一段时间内的目标观测数据，在低信噪比下也能从背景噪声中提取目标的航迹特征，提高了声呐的检测概率，且对部分信息和数据的缺失不敏感。

Gain-scheduling flight control law is used to determine the deflexion angles of the control surface and control the trajectory of the vehicle, and the trajectory simulation results are obtained. The results indicate that under the control system the latter is complicated, so direct acceleration is superior.

结果表明，操纵控制下的飞行器能够按照预定轨迹飞行；使用螺旋加速方式，可以延长激光加速的时间，但是这两种加速方式最后得到的速度差不多，而螺旋加速的操纵复杂，因此竖直平面内直接加速有一定的优势。

Trajectory energy dissipator, as one of main dissipator ways of hydropowerstation that locate in deep valleys and with high water head and large dischargecapacity, is much effective. But discharge atomization causing from trajectory energydissipator is often serious and has badly impact on downstream rock slope stability,which is arousing attention of some domestic and oversea scholars.

挑流消能作为高水头、大流量、深峡谷水电站的主要消能方式之一，效果比较理想，但同时带来了严重的泄流雾化现象，对下游岩质边坡的稳定造成极不利的影响，日益引起国内外学者的关注。

Based on rubbing model of a two-disk rotor-stator system with consideration of both rotor and stator dynamics,a numerical integration program is applied to numerical simulation and analysis of the nonlinear dynamics of this system,such as bifurcation,Poincare section map,trajectory of axes,phase trajectory,frequency spectrum diagram and time response.

基于一新型径向-轴向复合碰摩双盘转子-机匣力学模型，利用数值积分和Poincare映射方法，对转子-机匣系统由于径向-轴向碰摩故障导致的非线性动力学行为进行了数值仿真研究，给出了系统响应随转速和偏心量变化的分岔图和一些典型的Poincare截面图、相轨图、轴心轨迹、幅值谱图和时域响应等。

With the issue that the intuitiveness of results is not good in the majority of present research on trajectory planning, the optimal 3D trajectory is planned for helicopter based on the pretreatment of digital map.

针对目前大多数航迹规划研究中航迹规划结果直观性较差的问题，以直升机为对象，在对数字地图预处理的基础上规划其最优三维航迹。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。