非关节的

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。

Then, her femoral head caved in completely, and she received the artificial coxa joint transplant operation.

非典康复后，她的股骨头彻底塌陷，于2007年4月接受人工关节移植手术。

Hunan Hengyang to the blue bearing Limited company, is located, the old city, Leiyang, nearby the Cai Lun park, the good communications, approach 107 federal highways, with two highways nearby, the environment is graceful, is specialized production miniature bearing /0 kind of - 7 kind of depth cancels the bearing/pole end bearing/radial bearing/knuckle bearing/joint ball and has custom-made each kind of non-sign bearing's enterprise.

湖南衡阳向兰轴承有限公司，座落于，古城，耒阳市，蔡伦公园旁边，交通方便，靠近107国道，和两条高速公路附近，环境优雅，是一家专业生产微型轴承/0类-7类深勾轴承／杆端轴承/向心轴承/关节轴承/关节球及定制各种非标轴承的企业。

Methods Ten fresh-frozen foot specimens, three-dimensional kinematics of talonavicular joint were determined in the case of neutral position, dorsiflexion, plantoflexion, adduction, abduction, inversion and eversion motion by means of three-dimensional coordinate instrument （Immersion MicroScribe G2X） before and after calcaneocuboid arthrodesis under non-weight with moment of couple, bending moment, equilibrium dynamic loading.

方法10只新鲜尸体足标本，通过建立非负重位尸体足模型，结合力偶矩、弯矩及平衡加载方法，应用三维坐标仪测量分析跟骰关节融合前、后距舟关节在大体足背屈、跖屈、内收、外展、内翻及外翻运动中的三维运动度变化。

Methods Ninety-two clinically confirmed RA patients underwent high frequency ultrasonography. Maximum thickness and arterial RI of the wrist synovium were measured in active and nonactive stage.

选择临床确诊RA患者92例行高频超声检查，分别测量活动期和非活动期RA患者腕关节滑膜内动脉的RI值及滑膜最大厚度。

Two component design total ankle replacement is based on restricted type design to prevent dislocation ,and make syndesmosis union to enlarge tibia component contact area and stability. Three component design total ankle replacement is based on unrestricted type design. Components are mimic to anatomic shape ,and congruent polyethylene insert was also characterized. Successful total ankle replacement depends on reasonable prosthesis design and rational contact stress .

二件式人工踝关节，其设计理念，在於以高限制型设计，避免脱位之产生，并以胫骨腓骨骨联合扩大胫骨元件的接触面积与稳定度；三件式人工踝关节，主张以非限制型设计，近於解剖形状之元件，以及与关节面一致构形的聚乙烯内衬为其特点成功的全踝人工关节置换术仰赖合理的踝关节设计以及合理的接触压力。

Conclusion］1.The main purpose for the application of the arthroscopic in UKA is to deal with other disease inside the knee rather than to confirm the indication of the operation.2.Arthroscopy is an effective way for the patients combined lateral menisci injury and other compartmental mild osteoarthritis.

结论］(1)关节镜在膝关节单间室置换中应用的主要目的在于处理关节内的其他病变而非确定手术适应证；(2)对于合并外侧半月板损伤和其他间室轻度骨性关节炎的患者，关节镜仍是一种有效的辅助治疗手段。

Trochanteric advancement has been suggested as a method of treating recurrent dislocators where neither component malpositioning nor impingement was the cause of the dislocations.

大粗隆截骨术被推荐用于治疗非假体位置不良及非撞击引起的反复性关节脱位。

Thus, the purpose of this study explored the peak torque of six elite college female golf players (average ages=21.8) of the wrist joint of the dominated and undominated in 60°/s, 120°/s and 180°/s three different angular velocities and shoulder and elbow joints in 60°/s, 180°/s and 300°/s three different angular velocities. SPSS 10.0 for Windows, Paired-Samples t test analysis of the isokinetic strength of college golf players' dominated or undominated hand.

因此本研究目的为探讨国内6名优秀大专女子高尔夫选手（平均年龄21.8岁）其惯用手和非惯用手之腕关节在60°/s、120°/s和180°/s三个不同角速度下和肘关节、肩关节在60°/s、180°/s和300°/s三个不同角速度下所分别产生的峰值转矩值，且以SPSS 10.0软体，进行成对样本t考验(α=。05)检验优秀大专女子高尔夫选手惯用手及非惯用手之等速肌力差异，藉此来了解两者角色的重要性。

Yongda Wafangdian Bearing Manufacturing Co., Ltd. is the advanced level in the 1990s bearing processing equipment, strong technical force, sophisticated production equipment, advanced technology level, the detection means complete, the implementation of computer management quality standard bearings and non-standard bearings Specialized production and focus on new products and multi-function products, all kinds of special structure of the non-standard bearings, to maintain for processing, but also for user design and manufacture of deep groove ball bearings and cylindrical roller bearings, spherical roller bearings, Cone Roller bearing, thrust ball bearings, thrust-aligning roller bearings, subdivision-bearing, self-lubricating bearing joints, processing diameter of 200 mm to 1000 mm of non-standard bearings, bearing the standard, widely used in mining, metallurgy, steel rolling, water conservancy , Textiles, ceramics, oil, electrical, engineering machinery, and so on.

瓦房店永达轴承制造有限公司具有90年代先进水平的轴承加工设备，技术力量雄厚，生产设备精良，工艺水平先进，检测手段齐全，实行微机管理质量的标准轴承和非标准轴承专业化生产，并侧重于新产品及多功能产品、各种特殊结构的非标准轴承、保持器加工制造，还可为用户设计制造深沟球轴承、圆柱滚子轴承、球面滚子轴承、圆锥滚子轴承、推力球轴承、推力调心滚子轴承、剖分式轴承、自润滑关节轴承、加工制造内径200mm至1000mm的非标准轴承、标准轴承、可广泛用于矿山、冶金、轧钢、水利、纺织、陶瓷、石油、电机、工程机械等。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。