误差

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 , aiming at characteristic of MCG data , we design the object of error analysis and make concrete analysis by error theory . We draw the conclusions that MCG signals measured by SQUID include obvious random errors and no system errors and crassitude errors .

本文根据心磁信号的测量过程，分析了测量过程中可能产生的误差，针对心磁数据的特点设计了误差分析对象，应用误差理论进行分析计算，得出了通过SQUID测得的心磁信号包含明显的随机误差，无根据怀疑存在系统误差和粗大误差的结论。

The major results are summarized as follows: When there is initial error only or model parameter error only in the Lorenz system, the error growth and predictability limit are comparable between two kinds of error problems. This result holds basically for the wide range of parameter space of Lorenz system.

结果表明：在初始误差和参数误差单独存在时，系统的可预报期限随误差大小的变化规律基本上相同；对于相同的误差大小，初始误差和参数误差对系统可预报期限的影响几乎相同，这一结果基本上不随参数范围的变化而变化。

In the non-regular wave experiment, the average wave height error is less than 4.87%, the average pariod error is less than 4.59%, while the repeated error of the wave height is less than 1.87%and the transverse error of wave height is less than 3.71%.

水槽模拟海浪的检验结果表明，本造波机系统能够准确地模拟波浪，规则波的波高横向误差小于2%，波高重复误差小于1.28%，周期重复误差小于0.2%；不规则波的平均波高误差小于4.87%，平均周期误差小于4.59%，波高重复性误差小于1.87%，波高横向误差小于3.71%。

To analyze the pseudo phenomena caused by migration velocity error, the paper firstly studied the depth error between post-stack migration and prestack migration caused by same velocity error, and found the depth error was only relative to velocity error and had no direct matter with methods of depth migration (post-stack migration or prestack migration). Then the paper did numerical simulation of a complex lenticular body model with wave-equation modeling and migration, and found that the velocity error could not only induce depth error, but also could change the modality of construction and the event of subjacent layers. Furthermore, it could change the frequency of reflective event. They are the pseudo phenomena caused by migration.

从分析偏移速度误差带来的各种假象出发，本文首先对比分析了速度误差对叠后深度偏移和叠前深度偏移的影响，发现偏移剖面的深度误差仅与速度模型的误差有关系，与具体的偏移方法没有直接的关系；然后对一个复杂的透镜体模型进行了波动方程叠后正演和偏移计算，详细地讨论了不同的速度误差带来的各种假象，发现速度误差不仅会带来深度误差，而且会造成构造体的形态变化，下覆地层同向轴的扭曲，还可能引起地层同向轴的频率发生变化，给资料解释带来一定的假象。

Structure of Managerial Compensation and Dispersion of Firm Value;2. It is considered that the errors compose of the true value error,systematic error and dispersion .

对煤炭资源勘查资源量与客观物质量之间差值的误差理论探讨，提出误差由真值误差、系统误差和离差3个基本部分组成，其中真值误差是不可消除的观测误差、系统误差是控制网度所决定的准确度标准、而离差是由地质构造及矿床形态的多解性产生的资源量波动。

Southwest University of Science and Technology,Mianyang 621002,China）Abstract: This article discussed the measurement error of VOM and introduced the relationship between the relative error and intrinsic error according to the error theory.

摘 要：针对模拟万用表在测量电阻时产生的误差，通过误差理论的分析方法，导出了相对误差与基本误差之间的关系，得出了相对误差是产生测量误差的主要因素，并提出了如何减少测量误差和提高测量准确度的方法。

The observation equation built in this paper is nonlinear. After linea-rization, it can be seen that, the error of the angular sensor on ESG's outer gimbal axis is equal to the azimuth error of ESG, while that on ESG's inner gimbal is coupled from the elevation and the azimuth errors of ESG.

本论文所建立的量测方程是非线性的，其在标称状态的线性化方程表明：静电陀螺外框架轴上的角度传感器的输出误差等于陀螺主轴的方位角误差，内框架轴上的角度传感器的输出误差包括陀螺主轴的高度角误差和方位角误差的耦合量，其中方位角误差的耦合分量是由复示水平基准误差引起的。

Using the a hand-hold GPS and wireless transmitting unit to rapidly locate the fire and determine the rate of fire spread, which also offered an indispensable way of verifying the speed of forest fire appealing. Discussing the representation and Computing Method of the simulate calculation error based on the thorough investigation of the sources of simulate calculation error. Pointing out that the speed and directional error are the root of forest fire appealing simulates error. Thus increasing the parameter of error correction is an effect way of reducing systematicsimulationerrors.

4提出了一种利用手持GPS和无线传输设备来快速测定火场位置和林火实际蔓延速度的方法，为林火蔓延模拟速度验证提供了必要的手段；对林火蔓延模拟误差的来源进行了全面分析，探讨了林火蔓延误差的表现形式和计算方法，指出了林火蔓延速度误差和蔓延方向误差是林火蔓延误差产生的根源，提出了通过增加系统误差修正参数来减少系统模拟误差的有效方法。

On a grating type gear integrated error measuring equipm ent, this technique employs the three-point method error separation technique fo r separation of the systematic error of the measuring chain of equipment spindle system including measuring worm error, grating transducer error, bearing rota ry error etc.

在一台光栅式齿轮整体误差测量仪上，它用三点法误差分离技术能分离开仪器轴系测量链的系统误差(包括测量蜗杆误差、光栅传感器误差、轴承回转误差等)和被测齿轮的全谐波误差。

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。