运动控制

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was studied. Kinematic model of the 3-RRRT parallel robot was set up with both the branch bar's relative coordinates and movable platform's absolute coordinates used as it's generalized coordinates. On the base of Kane's equation, dynamics model of the 3-RRRT parallel robot was built. Dynamic Numerical simulation of the 3-RRRT parallel robot was finished by using Matlab software, and so it provides valuable reference for motion control strategy of the 3-RRRT parallel robot.

研究一种3-RRRT新型高速搬运机器人运动学与动力学建模及分析方法，以支链构件相对运动坐标和动平台绝对运动坐标作为广义坐标，建立了3-RRRT型并联机器人的运动学模型，结合带乘子的凯恩方程建立了3-RRRT型并联机器人的动力学模型，并利用Matlab软件平台进行了动力学数值仿真，进而为3-RRRT型并联机器人的控制策略研究提供参考。

Two kinds of motion equations are obtained respectively from the straight line and arc trajectory of guide roller center by researching control mold of guide roll.

对导向辊控制方式进行了研究，得到了导向辊圆心运动轨迹分别为直线和圆弧两种情况下的运动方程。

Self-regulation system for height of label-affixing machine of cigarette boxes;2. This paper introduced a new system in view of improving the problems exited in old style label-affixing machine control system which used in production line of some enterprises.

针对某生产线使用的旧式贴标机控制系统存在的问题，通过对贴标运动进行数学分析，建立运动模型，并在此基础上设计出ZDTB-L1型智能贴标机系统，该系统完全满足整个生产线对贴标机的技术要求。

Results show that the small vibration of this ideal model is non-simple harmonic,and the period of vibration in x direction and y direction are inverse ratio to the amplitude inverse ratio to the amplitude respectively,but influenced a little by them,and the waveform that coul.

本文应用拉格朗日方程方法研究了理想对称四弹性振子做二维运动的变化规律，得到其微小振动的控制方程，用数值解法求解出了振动方程，得到了振子运动的时程响应和轨迹图样。

This algorithm provides a more continuous feed motion using C2 continuous derivatives and nearly-arc spline parameterization.

该算法采用二阶连续可导的五次样条和近弧长样条参数提高了进给运动的连续性；速度控制算法保证机床在高速运行过程中加加速度的二次连续、加速度、速度和位移与时间关系的高阶连续变化，并且保证在各自的约束范围内，从而使机床的运动平稳，避免产生大的冲击和振动，同时有利于提高加工质量，减少加工时间。

Knife rest vertical to enter, give sport and horizontal to stock for sport to can be linked, cut order by artificial control even.

刀架的纵向进给运动和横向进给运动不能联动，切削次序也由人工控制。

We explore develop full-time are restored to health inside and outside,comprehensively manages the patient to train the time,and the attenion psychology unblocks,obtains credible satisfaction to be restored to health the effect.

脑卒中系高级中枢神经受损，是运动模式的异常及不能控制，不当的训练活动还会增加异常的肌张力和异常的运动模式，因此，患者在训练外时间如何去活动，如何保持训练效果的强化至观重要。我们探索开展全日制康复，全面管理患者训练内外时间，并注重心理疏导，取得可信满意的康复效果。

Therefore, also must pay attention to the physiological load of exercise in the movement the control, healthy science movement.

因此，在运动中还要注意运动量的控制，健康科学的运动。

Recuring to the analysis ability of ADAMS, the text bulit up the standing shooting position integritys model. Through simulating the body movement as bullet explodes, it analyses the graph of the muzzle displacement, waist moment and waist force. At last the text put forward the method for improving the stability of standing shooting.

本文结论：借助于ADAMS仿真软件的运动学和动力学分析能力，对立姿射击姿态进行了完整的建模，通过对立姿射击姿态的仿真，从立姿支撑面和腰部强度两个方面对模型施加外部控制，模拟子弹激发瞬间人体运动，分析运动中枪口位移和腰部受力、力矩的曲线图，提出提高姿态稳定性的方案。

This impulsion tool uses a high speed on-off valve to control to-and-fro motion of the distributing oil valve core, which impels the cylinder rod to-and-fro motion to form impulsion.

此冲击器采用高速开关阀控制配油阀的阀芯往复运动，从而促使活塞杆往复运动形成冲击的工作方案。

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。