轨迹

The structure of industrial robot is presented in this thesis, based on the trajectory that the manipulator would complete.

本文根据机器人末端执行器所要完成的轨迹特点，进行了轨迹规划，研究了解决该问题的机器人的结构，并做出了运动学和动力学分析。

Parametric analysis indicates that the optimal solution's trajectory is piecewise linear, and there is a strong relationship between the breakpoints and the infeasibility phenomena.

参数分析表明最优解轨迹的性态是一条分段线性曲线，解轨迹上的破点和不可行现象存在密切关系。

It puts the interpolation problem convert to seek the uniform acceleration movement track problem.

介绍了一种基于运动轨迹的插值信道估计方法，把插值问题转化为求解均匀加速运动轨迹问题。

Because of the unstructured environments and the force impulse excitation of the following manipulators, the invertibility control input can not control the conducting manipulator exactly. In this paper, a new adaptive and sliding mode control scheme is developed assuming that all system parameters including the joint flexibility values are uncertain but within given bounds.

在以上方法的基础上，本文再对多杆柔性关节机械手在约束空间的轨迹优化规划问题进行了研究，首先利用坐标转换得出多杆柔性关节机械手的约束动力学模型，然后利用逆系统方法求出了系统在约束空间的次优化轨迹及力控制器。

It is predominant that this software engross a lot of system resources, and the track of the knifepoint can draw up the track of the drawing commendably.

本文采用的插补算法简便科学，只耗用相当少的系统资源，刀具轨迹能很好地逼近原图形轨迹。

Theorem 4 it is not the path of integral but the points and in the locus L that affects the line integral of locus L of foot point of the perpendicular line between the origin and the tangent line of the cylindrical spiral .several corollaries are derived from the theorems mentioned above.

定理4 势量场沿由坐标原点至圆柱螺线的切线所引垂线的垂足轨迹L的线积分与积分路径无关，只与轨迹L上的取的端点与有关。并由以上定理得到了几个推论。

The path density of relative movement is derivative of path arc length s to lapping tool radius R i.e.

相对运动轨迹密度就是相对运动轨迹弧长 s 对磨具半径 R 的导数，即 ds/dR 。

The theories of multi member function"s extremity value, Hooke Jeeves mode searching method solving wholly complex problem of extremity value and uniformity design method, one new and efficient method to choose test point, are applied to establish the two-dimension oil well orbit optimized model. The shortest length of oil well orbit curve is regarded as this model"s object and all kinds of effecting parameters are analyzed.

通过引入多元函数极值理论、求解复杂极值问题的HookeJeeves模式搜索法及一种较为新颖和高效的试验点选择方法：均匀设计法，建立以最短油井轨迹曲线长为目标的二维油井轨道优化设计模型，并对影响井轨迹曲线的参数进行了较为详细的分析。

Furthermore, in order to overcome the disadvantage of GMC, i.e., it can only apply to the processes with relative order of 1, based on Lie derivative, we propose to let the r th derivative of the process output follow the given reference trajectory, to get the control law expression through solving an optimization problem.

针对GMC方法只适于相对阶r为1的简单过程的缺点，采用Lie导数的概念，令过程输出的r阶导数的轨迹为事先设定的标称轨迹，通过解优化问题得到控制律表达式，把GMC方法推广至相对阶r大于1的复杂多输入多输出过程，从而提出了一种广义一般模型控制方法。

The results show that we could get more accurate motion trajectory by using high order linear model for adaptive estimation.

结果显示，使用高阶的适应性线性轨迹模型做预测，配合曲线内插方法可估测出较准确的物体运动轨迹。

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。