计算的结果

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

For the application of Mathematica in the differential geometry,this paper introduces how to processe the curve curvature and the torsion questions,the graphic expression of the curvature and the torsions,and draw curves by the curvature and the torsions. Curvature ; torsion ; solution curve ; osculating plane ; natural parameter ; natural equation

利用Mathematica，只要输入有关系统命令就可以得到期望的结果。1曲率和挠率及其图形意义假设R3上的曲线一般参数表示为r=r它的曲率和挠率计算公式是：κ=‖r′×r&‖‖r′‖3τ=‖r′×r‖我们知道，空间曲线r=r在一点(s=s0)邻近的近似方程为ξ=sη=120κs2ζ=160κ0τs3通过近似方程可以确定曲线在其基本三棱形的三个平面(即密切平面，法平面，从切平面)上的投

MATLAB is a special-purpose computer program optimized to perform engineering and scientific analysis.It's easy to use and have a lot of powerful toolboxes which can be used in many aspects of engineering and scientific researches.

摘 要：凝胶电泳是当今分子生物学的一项最基本的试验技术，它的原理十分简单，但是通常只能通过目测marker的位置或是计算电泳率来得到样品的分子量，这样得到的结果是十分粗糙的。

Energy method was used to yield a formula to compute critical load of plates with stiffeners. Finite element method was followed to test it and give some advice to engineering design of stiffeners.

文中给出了从能量法推出的设加劲肋的板的临界应力系数的计算公式，并与有限元数值法分析的结果进行比较，得出的结论可用于指导工程设计。

Fitting curves are in good agreement with the experimental results,the calculated kinetic parameters are in good agreement with those reported in term of modeling of the pyrolysis of the three components assuming hemicellulose,cellulose and lignin pyrolyzing independently and para...

采用非线性最小平方算法，按三组分独立平行一级反应热解动力学模型，模拟计算的曲线与实验结果吻合较好，求解的动力学参数与文献报道值吻合较好，且随着升温速率的加快，纤维素和木质素热解的活化能有增加的趋势，而半纤维素活化能有下降的趋势。

It is difficult to determine the exact number of pawnshops in the U.S., because there are entities that resemble pawnshops in some respects that should not be considered as pawnshops.

很难确切计算出美国所有的当铺数量，原因是，有很多的商业实体是对传统意义上的当铺在某些方面进行了变革的结果，所以这样的实体可能不再是一般的当铺了。

In order to have an insight into the relation between the two forms of finite temperature field theory, we calculated directly the imaginary part of the"1-1"component of the twoloop self-energy in 〓 theory in TFD and gave the result in imaginary time formalism.

为了探讨温度场论两种形式之间的关系，本文以φ〓理论中的两圈自能图为例，在TFD的框架内首次直接计算了&1-1&分量格林函数的虚部，同时给出了虚时方法的结果。

In the study on hyperfine structure,we computed the hyperfine interaction diagonal and off-diagonal constants of the 1s~22s2p~3P_(0.1)levels,and the effects of electron correlation and Breit interaction on these have been analysed.

在超精细结构的研究中，我们系统地计算了Z=20-83范围内24个类铍离子的ls~22s2p~3P_(0.1)态的超精细结构，得到了与其它理论和实验符合很好的结果，并分析了不同电子关联模型和Breit相互作用对超精细结构的影响。

By defining several localindices which can be easily calculated from these ground-state wavefunctions, we first succeeded in explaining bond lengths, orientation ofelectrophilic aromatic substitution, and local aromaticity of these benzenoidhydrocarbons within the VB theory. Moreover, the energy splittings betweenthe ground state and first excited state are applied to correlate with theiroverall aromatic characters, the results are also in good agreement withrelated predictions from MO theory.

通过定义一些可由基态波函数直接计算的局域指标，首次在VB模型下成功地解释了苯型烃的键长、亲电取代反应的方向及局域芳香性，并用基态与第一激发态的能量差讨论了这些分子的整体芳香性，得到了与分子轨道理论的预测基本平行的结果。

The thesis studies several key issues on sampling computation and digital waveform synthesis in electrical measurements thoroughly, and applies some of the results into the precision measurement of VLF voltage.

本文对精密电测中的采样计算及数字波形合成的几个关键问题进行了深入细致的理论研究，并将有关的结果应用于超低频电压的精密测量中。

I will endeavour to find you some assistance.

我尽力帮你找人帮忙。

At first I only know bruck is the idol of American younglings, afterwards I returned back to Taiwan ,even in Beijing last year ,I saw her poster everywhere, I was so surprised at her charm.

起初我只晓得布鲁克雷德丝是美国少男少女崇拜的偶像，后来回台湾，甚至去年在北京，居然也四处看见她的海报，才惊讶她的魅力之大。