运动学

Neural networks ; genetic algorithm ; robot ; inverse kinematics ; fitness function

神经网络；遗传算法；机器人；逆运动学；适应度函数

A new method of solving inverse kinematics of robots based on improvement of neural networks is presented in this paper .

摘要 本文提出了一种基于神经网络改进算法的机器人逆运动学的求解方法。

A new way to build a model of inverse kinematics of a robot was proposed.

提出了一种机器人逆运动学问题建模的新方法。

Based on kinematics modeling, two models aiming at irrotational displacement isolator are simulated and analyzed.

在运动学模型的基础上，对减振机构的两种模型进行仿真、分析其运动特性，结果表明该机构可以有效的隔离振动、抑制角位移，对系统成像质量的提高具有重要的意义。

Based on kinematics modeling, two models aiming at irrotational displacement isolator are simulated and analyzed. The result shows that the framework effectively isolates the vibration, restrains angle displacement and plays important role in improving the image quality.

在运动学模型的基础上，对减振机构的两种模型进行仿真、分析其运动特性，结果表明该机构可以有效的隔离振动、抑制角位移，对系统成像质量的提高具有重要的意义。

The direct and the inverse solutions,singularities and isotropy of the mechanism were investigated respectively in terms of different actuated inputs,i.

利用螺旋理论对机构的自由度进行了分析和计算，研究了分别以圆柱副中的转动和线性移动作为主动输入的机构的运动学正逆解、奇异性和各向同性。

This paper presents the kinematics model and the velocity Jacobian matrix of the two degree of freedom motor.

给出了正交圆柱结构两自由度电动机的运动学模型及变换矩阵，推导了速度雅可比矩阵。

The potential criterion function for optimization is formed to deal with the integration property of pseudoinverse of Jacobian matrix.

首先对冗余自由度机器人的运动学和动力学优化问题进行了大量深入的研究。

The singularity and dexterity of spherical five-bar mechanisms are calculated and analyzed based on Jacobin matrix of mechanisms.

首先建立了球面五杆机构的运动学正、反解模型，并导出了机构的速度方程和雅可比矩阵。

In mechanics kinematics, Jacobin matrix may be calculated and simplified by vector constructing; Inverse solution and its restricting condition be given; Forward solution be solved by new-raphson method. The method need shorter time than optimization and has a lot of advantages in applying program; some relationship of velocity, acceleration, force and error of mapping from input to output have been given. Analyzing of theory base these researches.

在机构运动学研究方面，通过矢量构造的方式计算出了速度雅克比矩阵，简化了计算量；给出了机构位置逆解的计算过程及约束条件；利用Newton—Raphson法计算出了机构位置的正解，该算法比优化法计算时间短，而且利于实际编程；给出了机构输入、输出端速度、力、误差的映射关系，这些研究是机构理论分析的基础。

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。