加权

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。

Then a new method based on Kalman filter weighted by DOP is proposed according to the drawbacks of simple averaging method.

针对简单平均方法的不足之处，提出了一种基于精度衰减因子加权的卡尔曼滤波方法。

And the weighed averaging method is taken for decoupling fuzzy subset to get precise output.

采用加权平均法对输出模糊子集进行解模糊，得出了精确的输出。

The method of weighted averaging is commonly employed in the ANN model for the risk-assessment of special equipment.

针对特种设备风险评估模型中的人工神经网络技术一般采用定量加权平均法。

Ordered weighted harmonic averaging operator was a kind of method for aggregating discrete arguments.

有序加权调和平均算子是一种对离散性的数据进行集成的方法。

This paper extends the ordered weighted averaging operator of Yager to accommodate uncertain conditions where all input arguments take the forms of interval numbers.

把Yager提出的有序加权平均算子推广到所给定的数据信息均为区间数形式的不确定环境之中。

Firstly, a new two-tuples hybrid weighted averaging operator based on uncertain information processing is proposed. Properties of the operator are also analyzed. A method for group decision making with linguistic information based on T-HWA operator is presented.

首先提出了一种基于不确定信息处理的二元语义混合加权平均算子，并对该算子的性质进行了分析，然后给出了一种基于T-HWA算子的语言群决策方法。

A fuzzy ordered weighted averaging operator is presented and then utilized to aggregate the information given in the form of triangular fuzzy number complementary judgement matrix.

给出了一种模糊有序加权平均算子，利用该算子对以三角模糊数互补判断矩阵形式给出的判断信息进行了集结，基于三角模糊数期望值求得三角模糊数互补判断矩阵的排序向量，进而对决策方案进行排序。

Intuitionistic fuzzy numbers; operation laws; intuitionistic fuzzy weighted arithmetric averaging operator; incomplete weight

直觉模糊数；运算法则；直觉模糊数加权算术平均算子；不完全权重

A new dependent two-tuple ordered weighted averaging operator is proposed, in which the associated weights only depend on the aggregated two-tuple linguistic information can relieve the influence of unfair two-tuple linguistic information on the aggregated results by assigning low weights to those "false" and "biased" ones.

该算子相关联的加权向量依赖于被集结的二元语义，并且对错误或有偏见的二元语义赋予较低的权重来减轻不公平性对评价结果的影响。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐