轨迹

And the hyper-redundant robot's actions, such as pulling drawers, grapping club-shaped stuff along linear-path and opening doors along circular-path are realized.

在优化算法的验证实验中，实现了利用冗余机器人完成直线轨迹拉抽屉、抓棒料和圆弧轨迹开厨门等动作。

Based on a large number of references,data and documents,a comprehensive comment is made on the present situation and the development of the technology of precision grinding and polishing die and mould with free-form surfaces by robot,and this paper presents key technology of grinding and polishing die and mould with free-form surfaces by robot,which includes the movement programming method for grinding and polishing tool and the method of grinding and polishing tool path generation.

在阅读和消化大量国内外文献资料的基础上，本文对模具自由曲面的机器人自动精加工技术做了较为全面的综合评述，重点介绍了机器人自动打磨和抛光精加工模具自由曲面的关键技术—加工工具的轨迹规划方法和轨迹生成算法。

Geostress distribution is used to guide drill track, offering a new method to optimize well track.

应用地应力分布指导钻井轨迹，为井眼轨迹优化提供了新的研究方法。

METHODS: The changes of track of mandibular incisal point along with the changing of occlusal interference position were recorded by Arcus DigMa mandibular moving track analysis system.

应用Arcus DigMa三维下颌运动轨迹描记系统，检查下颌侧方运动中切点运动轨迹随人工干扰部位变化而发生的改变。

Combining workpiece and lapping tool movement, this paper derives movement and its path of workpiece relative to lapping tool. It is found that the path is a group of cycloids.

在求出工件的运动后，再结合已知的磨具运动，本文分别求出工件相对磨具的运动及相对运动轨迹，发现该轨迹是一组摆线。

Combining workpiece and lapping tool movement, this paper derives the movement rule and its path of workpiece relative to lapping tool. It is found that the path is a group of cycloids.

在求出工件的运动后，再结合已知的磨具运动，本文分别求出工件相对磨具的运动规律及相对运动轨迹，发现该轨迹是一组摆线。

Next, in ADAMS, friction coefficient database is set up, and dialog box for defining joint friction is extended based on analyzing joint friction in mechanical system, and the method of parametric analysis is discussed for analyzing manufacture errors influence on mechanism performance.

然后，建立了受电弓虚拟样机模型，基于该模型主要研究了运动副摩擦引起的升弓轨迹和升弓扭矩的运行误差；在ADAMS环境下建立受电弓的三维参数化模型，讨论了制造误差对受电弓升弓轨迹的影响。

We can acquire the locutions of points with the same principle stress direction and the principle stress difference through the photoelastic experiments These data are the important parameters in photoelastic stress analysis.

我们可以透过光弹实验得到具相同主应力方向点的轨迹，与相同主应力差值点之轨迹，此两组数据为光弹应力分析中之重要参数。

In the spline interpolation for well trajectory ,each coordinate of the well trajectory can be indicated as a 3-order spline which variated with well depth.

在计算实钻井眼轨迹的样条插值法中，假设井眼轨迹的每个坐标分量都可以表示成以井深为参数的分段三次样条函数。

The sightline control strategy for bad measure precision is developed, and the control methods for vertical direction, approach direction and station keeping are presented.(2)The safe approach velocities are investigated for cuboid, sphere and cone keep out zone.(3)The design method for optimal trajectory under safety constraint is developed. The cone and cuboid keep out zone can be described using line constraint, and then optimal trajectory design can be translated to line programming problem under line constraint.(4) The design strategy of collision avoidance maneuver is discussed, and the collision avoidance scheme is analyzed for V-bar and R-bar approach.The control and trajectory safety in departure phase are investigated.

1提出了测量误差较大时平移靠拢段的视线控制策略，给出了横向、纵向和悬停的控制方法；(2)针对长方体禁区、球形禁区和锥形禁区三种禁区形式，研究了V-bar逼近和任意方向逼近的纵向安全速度计算问题；(3)提出了安全约束下的最优轨迹设计方法，将冲量和有限推力作用下的最优轨迹设计问题转化为线性规划问题，并给出了将锥形和方形安全区域约束转化为标准线性约束的公式；(4)探讨了紧急避撞机动的设计策略，分析了V-bar和R-bar接近的紧急避撞机动方案。

And Pharaoh spoke to Joseph, saying, Your father and your brothers have come to you.

47：5 法老对约瑟说，你父亲和你弟兄们到你这里来了。

Additionally, the approximate flattening of surface strip using lines linking midpoints on perpendicular lines between geodesic curves and the unconditional extreme value method are discussed.

提出了用测地线方程、曲面上两点间短程线来计算膜结构曲面测地线的方法，同时，采用测地线间垂线的中点连线和用无约束极值法进行空间条状曲面近似展开的分析。