轨迹

After analyzing the shortage of classical track following control rule, the abscissa error of track position of the robot is introduced in the method to fasten the track approaching speed, as well as the combined function of manual field and position error is applied to control the orientation of the robot.

在分析经典轨迹跟踪控制律缺点的基础上，方法中引入了机器人跟踪位姿误差的横坐标误差以加速机器人的轨迹逼近速度，并采用人工场和位姿误差协同作用来共同完成机器人的导向控制。

Based on the analysis of the forces exerted on particles in air flow, the track equation which describe particles jetted from nozzle in air sampler and formula between the track and design parameters of impactor are obtained.

本文从颗粒在气流中的受力情况分析入手，得到冲击采样器中喷嘴喷出后颗粒的运动轨迹方程以及运动轨迹与采样器切割头设计参数的关系式。

Before target-entering into a horizontal well or in the process of drilling horizontal section,to confirm the controlling range of deviation angle and azimuth of hole section is not only an important measure to guarantee target rate and trajectory control accuracy of the horizontal well but also one of the important contents in trajectory supervision of the horizontal well.

在水平井入靶前或水平段钻井过程中，确定待钻井段井斜角和方位角的控制范围是保证水平井中靶和轨迹控制精度的关键，也是水平井井眼轨迹监控的一项重要内容。

Before targetentering into a horizontal well or in the process of drilling horizontal section, to confirm the controlling range of deviation angle and azimuth of hole section is not only an important measure to guarantee target rate and trajectory control accuracy of the horizontal well but also one of the important contents in trajectory supervision of the horizontal well.

在水平井入靶前或水平段钻井过程中，确定待钻井段井斜角和方位角的控制范围是保证水平井中靶和轨迹控制精度的关键，也是水平井井眼轨迹监控的一项重要内容。

This paper introduces fast-hot-repaired robot抯 motion locus of copper metallurgical furnace when it is removing firebricks, and analyze its feed point and feed amount during motion.

介绍了一种铜冶金炉快速热修机器人在拆除耐火砖作业时的运动轨迹，对运动轨迹过程中的进给点及其相应的各轴进给量进行了分析，并提出了一种实现其运动轨迹的方法。

It is to calculate the speed of machine tool on PC,and find out the inflexions and the slowdown point s,then transmit these datas to the DSP to control the machine tool.

设计思想是：在上位机上进行预处理，计算出数控机床沿轨迹各点的速度，判断轨迹的连续性，并找出轨迹中的&拐点&和减速点，然后将这些数据传给下位机对机床进行运动控制。

According to the wire electrode on the trajectory of the different forms of control, WEDM can be divided into three types:* is a copy-control, cutting their lines in advance to create the shape of the workpiece and the same mode *, When the rough machining parts and die at the same time * Clamping in the machine tool table, in the process of cutting wire electrode tightly * close to the edge of model for mobile track, thus cutting out the model * with the same shape and precision to work; another One is the optical tracking control, the cutting in line before the first parts in accordance with drawings by a certain ratio of enlarge depicts an electro-optical tracking maps, drawings will be processed when the machine electro-optical tracking placed on the stage, followed on the stage The first photo has to follow the ink line graphics track movement, and then through the use of electrical, mechanical linkage to control the machine tool table work together with the relative electrode wire Xiang Sixing do sports in order to cut out the pattern and shape of the workpiece to the same; a re - Is a digital process control, advanced digital automatic control technology, machine-driven process in accordance with the geometry of the workpiece before the parameters of good pre-processing CNC automatic completion of the processing, production do not look like without drawing board also plans to enlarge, in front of more than two Control in the form of higher precision processing and broad scope of application, at home and abroad for more than 95% of WEDM have been using digital technology.

根据对电极丝运动轨迹的控制形式不同，电火花线切割机床又可分为三种：一种是*模仿形控制，其在进行线切割加工前，预先制造出与工件形状相同的*模，加工时把工件毛坯和*模同时装夹在机床工作台上，在切割过程中电极丝紧紧地贴着*模边缘作轨迹移动，从而切割出与*模形状和精度相同的工件来；另一种是光电跟踪控制，其在进行线切割加工前，先根据零件图样按一定放大比例描绘出一张光电跟踪图，加工时将图样置于机床的光电跟踪台上，跟踪台上的光电头始终追随墨线图形的轨迹运动，再借助于电气、机械的联动，控制机床工作台连同工件相对电极丝做相似形的运动，从而切割出与图样形状相同的工件来；再一种是数字程序控制，采用先进的数字化自动控制技术，驱动机床按照加工前根据工件几何形状参数预先编制好的数控加工程序自动完成加工，不需要制作模样板也无需绘制放大图，比前面两种控制形式具有更高的加工精度和广阔的应用范围，目前国内外95％以上的电火花线切割机床都已采用数控化。

The wellbore trajectory control is the key and difficult point in slim hole cluster drilling technology.

井眼轨迹控制是小井眼丛式钻井技术的重点和难点，文中探讨了钻具组合、上部井眼曲率、钻井参数以及钻头选型对小井眼轨迹控制的影响，并建立了相应的井眼轨迹控制模式。

Using gyroscope and GPS as the carriage and track of the bodywork sensor, an embedded circuit is designed to sample and transmitted and save the carriage and track of the bodywork signal. The carriage and track of the bodywork instrument is constructed of embedded circuit, which could achieve direct measurement of.

在确定以捷联惯性测量系统和GPS联合测量车身姿态与轨迹的方案后，设计了一种车身姿态与轨迹的测量装置，采用嵌入式测量电路进行信号采集、处理与存储，从而实现对车身姿态与轨迹的直接测量。

Wire electrode based on the trajectory of the different forms of control, WEDM can be divided into three types: one is shaped by the imitation controlled cutting in line in advance and work to create the same shape by mold, when processing the workpiece at the same time rough and on the mold clamping in the machine tool table, in the process of cutting wire electrode tightly against the mold on the edge of the track for the mobile, thus cutting out and die on the same shape and precision to the workpiece; another One is the electro-optical tracking control, to carry out the cutting line, before the basis of certain parts to enlarge the proportion of drawings depicts an electro-optical tracking map-processing machines will be placed in design stage of electro-optical tracking, tracking platform Photoelectric first line of graphics has always been to follow the track of the Mexican campaign, and then through the use of electrical, mechanical linkage to control the machine tool table, together with the workpiece so相似形wire electrode relative movement, thus cutting out the same shape and design to the workpiece; again a digital control, the use of advanced automatic control of digital technology-driven machine tool in accordance with the pre-processing parameters according to the workpiece geometry pre-processing procedures for the preparation of a good CNC auto-complete processing, the production does not require appearance on board the need to map to enlarge map of the previous two form of control has a higher machining accuracy and a broad range of applications, both at home and abroad more than 95% have adopted WEDM NC.

根据对电极丝运动轨迹的控制形式不同，电火花线切割机床又可分为三种：一种是靠模仿形控制，其在进行线切割加工前，预先制造出与工件形状相同的靠模，加工时把工件毛坯和靠模同时装夹在机床工作台上，在切割过程中电极丝紧紧地贴着靠模边缘作轨迹移动，从而切割出与靠模形状和精度相同的工件来；另一种是光电跟踪控制，其在进行线切割加工前，先根据零件图样按一定放大比例描绘出一张光电跟踪图，加工时将图样置于机床的光电跟踪台上，跟踪台上的光电头始终追随墨线图形的轨迹运动，再借助于电气、机械的联动，控制机床工作台连同工件相对电极丝做相似形的运动，从而切割出与图样形状相同的工件来；再一种是数字程序控制，采用先进的数字化自动控制技术，驱动机床按照加工前根据工件几何形状参数预先编制好的数控加工程序自动完成加工，不需要制作靠模样板也无需绘制放大图，比前面两种控制形式具有更高的加工精度和广阔的应用范围，目前国内外95%以上的电火花线切割机床都已采用数控化。切割属电加工范畴，是由前苏联人发明的，我国是第一个用于工业生产的国家，当时由复但大学和苏州长风机械厂合作生产的这是最早的机型叫复旦型，我们国内在此基础上发展了快走丝系统。欧美和日本发展了慢走系统LS

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。