运动控制

The most striking feature of this machine is the realization of the space saddle-type welding seam welding control system by using the interpolation arithmetic, which can replace the method of mechanical differential outfit simulated space curve movement, guarantee the stability of the welding line, and make the track of the welding blowpipe more accurate and the mechanical structure simpler.

本机最大特点在于用运动控制方式，利用插补运算方法实现空间马鞍型焊缝的焊接控制系统，保证焊接线速度恒定，取代用机械差动机构模拟实现空间曲线运动方法，使得焊枪运动轨迹更加准确，机械结构变得简单。

This HIFU motion control system has good extensibility and easy to control, and meet the our precision requirement.

HIFU运动控制系统具有良好的开放性和灵活性，便于控制，对运动系统的测试表明，该系统在运动精度上完全达到设计要求。

According to the real time control experiment of the"3-2-1"type 6DOF platform, it proves that the real time motion control based on virtual simulation is a feasible control method. The designer himself needn't do the modeling and solving of the kinematic positive/negative calculation of the complex space structure and it deeply reduces the needs of the control hardware.

通过所进行的"3-2-1"型六自由度平台实时运动控制实验可以证明，所提出的基于虚拟仿真的实时运动控制是一种可行的控制方法，它不仅不需要设计者自己直接进行复杂空间机构的运动学正、反解的建模与求解，而且极大地降低了对系统控制硬件的要求。

On the basis of the study on the mathematical model of the closed-loop location control, the analysis of contour error in the process motion control and error calculation model, according to the lack of using normal contour error model not to calculate contour error of curve in real-time, combining real-time contour error compensation control strategy and fuzzy logic theory, the fuzzy logic and real-time contour error calculation based self-discipline control strategy is proposed.

2在研究闭环位置控制数学模型、加工轮廓运动控制中的误差分析和轮廓误差计算模型的基础上，针对利用一般运动轮廓误差计算模型不能实时计算出曲线轮廓误差的不足，结合实时轮廓误差补偿控制策略和模糊逻辑理论，研究了基于模糊逻辑理论和实时误差计算的轮廓自律控制策略。

It also deduces the robot motion model through two-wheel separated drive design and demonstrates the control theory that realizes by two wheels with different velocity.

结合移动机器人运动控制存在的难点，本文深入探讨了模糊控制系统的原理和设计方法，并提出了模糊控制策略在运动控制中应用的具体方案。

The control of a robot with unactuated joints is much more difficult than a conventional robot. Because the unactuated joints can't be controlled directly, it is an incomplete controllable system. Usual smooth feedback control is not usable for such system.

引言在一般的机器人控制中，机器人各关节是由各自的电机分别控制驱动的，这样在运动控制上非常简单，一般的只需要做运动学反向解，通过位置反馈控制来实现预定的运动轨道。

The servo controller regards TI Company DSP chip TMS320LF2407A as the main chip,has adopted standard ISA bus structure,has high -integration and high-agility,has accomplished in real-time complex boolean calculation and control algo- rithms during motion control,and can be used to realize high-speed and high-accuracy servo control for mul- tiple axis.

O前言以DSP为核心的多轴伺服控制器越来越广泛地应用在运动控制系统中，上位机只需对被控对象实施总体的控制和管理，而位置反馈信号的采集，闭环控制计算及控制量的输出均由伺服控制器完成，具有运算速度快，支持复杂的运动算法的特点，能实现高速度、高精度的位置伺服或轨迹

The handwriting and drawing motor of the students of different academic achievements differs in such ways as:a. Slow students\' motor control ability is inferior to that of the other students, which suggests some students have abnormal function of neural motor, including the unilateralization of brain function.b. The motor control ability of the excellent students from senior high school excels that of the other students.c. The harmonizing ability over double tasks of the excellent students exceeds that of the ordinary students. Such difference becomes more evident with complication of cognitive tasks.

三不同学业成绩学生的手书运动存在以下差异：1、学差生的手书运动控制能力低于学优生和中等生，提示在学差生中间可能有部分学生存在神经运动功能的特殊状况，包括大脑功能单侧化的改变。2、高中学优生的手书运动控制能力高于中等生和学差生。3、学优生在手书活动中的双任务协调能力优于学差生，随着认知次任务的复杂化，不同学业成绩学生之间的差异更为明显。

Researching low speed wiring electro discharge machine,this paper proposes a hardware architecture of motion control system of LSWEDM based on DMC3000 motion control card,and focuses on analysis for the methods of motion control.

该运动控制系统实现了低速走丝电火花线切割加工中4轴联动控制的需求，并经反复调试，很好地解决了该系统运动控制精度要求高、控制轴数多等技术难点。

This paper discussed the problems happened in the motion control of three-wheeled omni-mobile robot.

然而，在三轮全向移动机器人运动控制中，也出现了诸如运动不平稳、运动时出现晃动等问题，本文针对三轮全向移动机器人的运动控制中出现的一些问题进行了研究和讨论。

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。