运动控制

Then by using homography relation, the prediction of the object position can be obtained on the image plane of the dynamic camera. Finally, after calculating the rotation angle of the dynamic camera plate, we can implement the servo control of the dynamic camera. We also discuss the technical problems of the error compensations of the system.

系统在静态摄像机的图像平面上建立目标的2D运动模型，采用卡尔曼滤波实现目标运动位置的预测，然后再利用单应性关系，得到在动态摄像机图像平面上对应目标的位置预测，计算动态摄像机平台所要旋转的角度，实现对该摄像机的运动控制，同时也讨论了系统的误差补偿等技术问题。

Lastly ,using the stick figure and surface model,the realistic simulation of running is implemented by a method which is a combination of inverse kinematics and dynamics.

人体运动的仿真方面，运动控制的方法有关键帧法[1]、运动学和逆运动学法[2，3]、动力学和逆动力学法[4]、时空约束法[5]、运动捕获法[6]等方法。

Based on kinematics principle of the two-wheel drive robot, this dissertation analyzes the motional characteristics of "GIANT" robot, and then builds its motional mathematic model.

基于当今机器人控制系统开放性的发展趋势，研究开发了以单板计算机为控制核心，包括伺服、步进运动控制的移动机器人控制系统。

The feedback controls, including linear, speed, doubly-periodic function, hyperbolic function and trigonometric function are used to suppress chaos to one of the three unstable equilibrium. The Routh-Hurwtiz theorem is applied to derive the conditions of stability of the controlled system.

利用反馈控制方法，包括线性、速度、双周期函数、双曲函数和三角函数反馈控制方法将系统的混沌运动控制到稳定态，根据Routh-Huriwtz准则获得了系统达到控制目标时反馈系数所满足的条件。

A picking arm model is established using three-dimension entity software Pro/E and the kinematics analysis and forward and reverse solution calculation of the picking arm are made using D-H method. The kinematics simulation function of ADAMS is used for the simulation analysis of the kinematics features of the forestry nut picking arm and the feature curves of displacement, velocity and acceleration of the end effecter of a machine under a specific motion status are obtained, which provides reference evidence for the motion control and the optimal design of picking arms.

利用三维实体软件Pro/E建立采摘臂模型，并采用D-H法对采摘臂进行运动学分析和正逆解计算；应用ADAMS的运动仿真功能对林木干果采摘臂的运动特性进行仿真分析，给出了机器在特定运动状态下末端执行器的位移、速度及加速度等特性曲线，为采摘机的运动控制及优化设计提供参考依据。

The paper chooses the assembly of aircraft digital assembly location as a research object, chooses the assembly of aircraft section as a research example, aims to study the method of aircraft digital assembly location, focuses on the research of the structure of digital assemble control prototype system for aircraft section based on laser measurement, develops the servo control device and related software based on LM629, ATmega128 and LMD18200, completes the construction of the system based on the assembly of aircraft section.

以飞机的数字化装配定位为研究对象，以飞机舱段的装配为例，以探索飞机数字化装配的方法为目的，通过对基于激光测量的飞机舱段数字化装配定位控制原型系统结构的研究，采用运动控制芯片LM629、单片机ATmega128和功率放大芯片LMD18200构成了伺服系统控制随动装置，并开发了相关软件系统，完成了基于舱段大部件装配的数字化装配定位控制原型系统的设计开发。

To accomplish the intelligent control of the three-axis numerical control system of the boring and milling machine tool based on IPC ,the research makes good use of the intelligence sport control card PCL-839 and PCLD-782/785 card to design the control system of the three-coordinate NC machine tool with the framework of embedding NC in PC.

为实现基于工控机 IPC 的三坐标印制电路板数控钻铣床的智能控制，研究运用PCL-839运动控制卡和信号输入输出卡PCLD-782/785，采用NC嵌入PC式结构设计该三坐标印制电路板数控机床的控制系统，以实现对该数控机床的控制。

Backlash and friction are the non-linearities arising in almost all the gear driving systems.

齿隙和摩擦是齿轮传动系统中制约运动控制精度不可避免的非线性现象，常规的PID控制难以达到较好的控制品质，变结构控制是解决非线性系统控制问题的一种有效方法。

The 56F801 includes many peripherals that are especially useful for applications such as motion control, smart appliances, steppers, encoders, tachometers, limit switches, power supply and control, automotive control, engine management, noise suppression, remote utility metering, and industrial control for power, lighting, and automation.

该56F801包括许多外围设备，特别是如运动控制，智能家电，步进，编码器，转速表，限位开关，电源和控制，汽车控制，发动机管理，噪声抑制，远程公用仪表应用价值，以及工业控制电力，照明和自动化。

In addition, this method is used in the motion control study of spinning machine tool, and achieve good control effect

机床的工作台可视为直角坐标型的机器人，这类机器人是近似线性系统，可以采用比较复杂的迭代学习控制方法，因此，本文提出了弹性移动关节机器人的混合PID迭代学习控制律，证明了该方法的收敛性，并将这种方法应用于旋压机床的学习运动控制，达到了良好的控制效果。

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。