运动学

The researches in Virtual human technology involve computer graphics, kinematics and dynamics, multi-functional perception, artificial intelligence, virtual reality, etc.

虚拟人技术研究涉及到计算机图形学、运动学与动力学、多功能感知、人工智能、虚拟现实等多个学科，是一个交叉应用学科。

And it is shown that the dynamics equations of the system can be linearly parameterized. With the augmentation approach, we demonstrate that the augmented generalized Jacobi matrix can also be linearly parameterized.

对系统的运动学分析表明，联系两个机械臂末端运动速度与机器人关节角速度的增广广义Jacobi关系亦可以表示为一组惯性参数的线性函数。

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。

A control strategy using Mutual Mapping Neural Network to compute the solution of the backward and forward kinematics was presented in this paper. MMNN was consisted of two NN and one modify function, one NN was used for forward kinematics calculation, and another for Jacobi matrix calculation, the modify function was formed based on Lyapunov function.

双向映射神经元网络主要由两个神经网络和一个修正函数构成，其中一个神经网络用来进行正运动学求解，另一个神经网络用来计算雅可比矩阵，修正算法是根据李雅普诺夫函数来计算的。

Six degrees of freedom were appended to the base of space robot when space robot is in free-floating state.

第三、针对自由漂浮空间机器人，提出了一种计算其运动学问题的新方法。

Using ABAQUS/Explicit simulation research and experiment research, from the view of statics and kinematics, it deeply analyzed the basic rules of cold ring rolling deformation, researched the distribution laws of residuary stress, deduced formulas about moving parameters of rollers and constructed design and optimization model for technology parameters. All above researches provided academic and experimental basis for the development of cold ring rolling technology.

本文通过ABAQUS／Explicit有限元模拟研究和实验研究，从静力学、运动学方面，深入分析了环件冷辗扩变形基本规律，研究了残余应力分布规律，推导出了轧辊的运动参数设计公式，建立了工艺参数设计和优化模型，为环件冷辗扩技术应用发展提供了理论和实验依据。

This paper has studied the kinematics and the precision of a ship block merging system based on the multi-robot coordination.

本文研究了基于多机器人协调的船体分段对接系统的运动学和对接精度问题。

Caramel for different groups of people of physical characteristics, fully integrated kinematics, the body mechanics and medicine on the basis of design and development, so that products meet the scientific, security, aesthetics and durability of the strict requirements, and to products Passing rate of 100%.

佳美针对不同的人群的身体特点，充分结合运动学，人体力学和医学的基础上进行设计和开发，从而使产品达到科学、安全、美观和耐用的严格要求，并做到产品的合格率达到100%。

The Company in the kinematics, body mechanics and physics on the basis of development and design to professional, humane, the rationalization of the design ideas and strict product test treat each Product.

本公司在运动学、人体力学和物理学的基础上进行开发设计，以专业化，人性化、合理化的设计思路和严格的产品检验标准对待每一台产品。

Using the calculation formula of reflection ecergy, transmissin energy and incidence energy and equivalent principle of electric signal received by detector and seismic wave energy reflected by underground lithologic boundary, the formula of interval velocity and strata density are derived.

根据运动学中的动量守恒定律、分析地震勘探过程中地震波在地下介质中的传播过程，利用反射能量、透射能量与入射能量的计算公式和检波器转化的电信号与地下密度界面反射地震波波动能量的效原理，推导出直接求层速度和层密度公式。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。