冗餘系桿 的英文怎麼說
中文拼音 [rǒngyúxìgǎn]
冗餘系桿
英文
redundant tie-
This paper deals with the following three topics with regard to the control of multiple manipulators : 1. deprive the kinematics and dynamical equations of two manipulators with identical structure on the basis of geometry theory, one of which has two links, giving the inverse solution to the kinematics of the system which consists of the manipulators and the grasped object ; 2. by use of load - distributing, design a controller coordinating multiple redundant manipulators whose parameters are known
基於微分幾何理論推導出兩個具有相同結構的二連桿機器人的運動學逆解及與物體所成系統的動力學方程; 2在假設由多個冗餘機器人與物體組成系統的動力學模型確知的前提下,利用負荷分配法,設計了一種不僅能使關節力矩優化且能按照一定比例分配負荷的控制器,解決了以往控制器的一些缺陷,即忽視各個機器人的實際承載力,導致一些負荷力小的機器人卻必須承擔較大的負載,最終損壞機器人; 3
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