雅可比矩陣 的英文怎麼說

中文拼音 [yǎkěbǐjǔzhèn]
雅可比矩陣 英文
jacobi matrix
  • 雅 : 雅同「鴉」
  • 比 : Ⅰ動詞1 （比較; 較量高下、 長短、距離、好壞等） compare; compete; contrast; match; emulate 2 （比...
  • 矩 : 名詞1. （畫直角或正方形、矩形用的曲尺） carpenter's square; square2. （法度; 規則） rules; regulations 3. [物理學] moment
  • 陣 : Ⅰ名詞1 （作戰隊伍的行列或組合方式） battle array [formation]: 布陣 deploy the troops in battle fo...
  • 雅可比 : jacobian
  • 矩陣 : [數學] matrix; array
  1. Coordinate system of the manipulator is built, and kinematic equation is obtained. the reverse kinematics of the robot is analyzed using algebra and geometry, and the conditions to eliminate excrescent results are presented. and the working space of the mechanical arm is gained, singularity of the manipulator is analyzed

    對機械臂進行了運動學分析，建立機械臂坐標系，建立正運動學方程，並採用代數法和幾何法求解機器人逆運動學問題，並給出剔除多解的條件，求解出機器人手臂的工作空間和雅可比矩陣，並對機械臂的奇異性進行分析。
  2. By studying on jacobin matrix of planar, a method that can make the machine avoid singularity on operating is put forward

    通過對五桿機構雅可比矩陣的分析，提出了避免機床在工作時出現奇異位形的方法。
  3. The theory of inversed kinematics ( ik ) was mainly introduced, the ik motional control methods based on jacobian matrix were studied

    摘要應用基於雅可比矩陣的逆向運動學運動控制方法，對抽油機運動規律進行了分析。
  4. This method doesn ' t compute the moore - penrose inverse of image jacobian

    這種方法無需計算雅可比矩陣偽逆。
  5. The best scheme was chosen after analysis and comparing and the structure was designed. at same time, the kinematics analysis was conducted, coordinate transformation matrix using d - h method was set up, and the kinematics equation direct solution and inverse solution was deduced, the velocity jacobian matrix was constructed using vector product method, and the values of displacement and velocity of some special point including the wrist point were calculated. secondly, the working space of the robot was analyzed and the axes section of practical working space was drawn

    首先，作者針對機器人的設計要求提出了多個方案，對其進行分析比較，選擇其中最優的方案進行了結構設計；同時進行了運動學分析，用d - h方法建立了坐標變換矩陣，推算了運動方程的正、逆解；用矢量積法推導了速度雅可比矩陣，並計算了包括腕點在內的一些點的位移和速度；然後藉助坐標變換矩陣進行工作空間分析，作出了實際工作空間的軸剖面。
  6. The content including : ( 1 ) combined with the powerful matrix operation function and the abundant function computation of matlab, a load flow program is developed. due to the deeply research of admittance matrix, jacobian matrix and correction matrix, this program has a great advantage at both speed and code

    其主要內容如下： （ 1 ）結合matlab軟體強大的矩陣運算功能和豐富的函數計算功能，對潮流演算法中導納矩陣、雅可比矩陣以及修正方程求解的實現方式進行了深入研究，開發出一種速度和代碼量都具有明顯優勢的潮流程序。
  7. The elements of the reduced - jacobian matrix are functions of some parameters of the system. for example, effective short ratio, power base ratio, coupling impedance and load flow of the system. for single - infeed hvdc system with a parallel ac line, computer simulations using power system analysis software package ( psasp ) were performed

    用一種簡單的方法可以求得降階雅可比矩陣，由於降階雅可比矩陣的元素都是交直流混合系統中一些參數的代數函數，如有效短路比、功率基準比、連接阻抗和系統潮流等，因此，矩陣的特徵值也與這些參數相關。
  8. 2. dynamics analysis : by setting up jacon matrix differential coefficient sport is passed to descartes space. it makes terminal executing manipulator produce differential coefficient of acceleration and force in every different coordinates can be got. then the effective inertia, coincident inertia and gravity load of two manipulators are calculated by lagrange method. so generalized joint torque of each joint is got, and along with equivalent driving torque, actual driving torque of each joint can be worked out. 3

    動力學分析：建立雅可比矩陣將關節空間的各關節的微分運動傳遞到笛卡爾空間，使末端執行器位姿產生微分運動，以用於求加速度及力在不同坐標系間的線性變換，再用拉格朗日法計算兩機械手的有效慣量、偶合慣量、重力載荷，從而計算得到各關節的廣義關節力矩，並與等效驅動力矩共同算得各關節的驅動力矩。
  9. Using the theory of conformal transformation, the planar figures of the workspaces are mapped. on the study of the spherical 3 - dof serial mechanism workspaces, we can give the reachable workspace, the atlases of reachable workspaces, the mobile workspace and the atlases of mobile workspace of the spherical 3 - dof parallel mechanism which given geometric parameters. from these atlases, we can see that the mechanical function is better when 1, 2 was given and 1, 2 tend 90

    再次對球面機構的性能進行研究，利用保角變換理論將球面機構工作空間在平面中表示，在分析串聯球面機構可達工作空間的基礎上，得出給定機構參數的並聯球面機構的可達工作空間和可達工作空間面積性能圖譜，得出對應于不同靈活度的靈巧工作空間和靈巧工作空間面積性能圖譜，結論表明，在給定機構參數_ 1 ， _ 2的情況下， _ 1 ， _ 2越是靠近90 ，其可達工作空間和靈巧工作空間面積越大；利用雅可比矩陣對機構進行奇異位形分析，得出幾種特定機構參數的奇異位形。
  10. A nonlinear visual mapping model of the 2d eye - in - hand robotic visual tracking problem is proposed and a new visual tracking controller based on artificial neural network with bp - ga mixed algorithms is designed. simulation results show that this method can drive the static tracking error to zero quickly. moreover, a new nonlinear visual mapping model of the 3dof eye - in - hand robotic visual tracking problem is studied and a new visual tracking

    （ 5 ）針對基於圖像雅可比矩陣的機器人手眼平動視覺跟蹤問題，建立了新的視覺映射模型，提出了基於bp一ga混合學習演算法的人一神經網路機器人平動視覺跟蹤方法，模擬結果表明該方法控制下系統跟蹤誤差快速趨近於零。
  11. In this paper, kinematics analysis modules of the reconfigurable modular parallel micromanipulator are researched, which consists of position analysis module, velocity module, acceleration module, algorithm of jacobin matrix, property index of velocity and acceleration which including decoupled character, isotropy, extremum of velocity and acceleration and so on

    包括位置分析模塊、速度、加速度分析模塊，以及雅可比矩陣的演算法，速度、加速的性能指標：解耦性、各向同性度、極值指標等，為並聯微動機器人控制軟體模塊化設計奠定了基礎。
  12. ( 2 ) link coordinates of the manipulator were set up by denavit - hartenberg method. simultaneously, forward kinematics and inverse kinematics was modeled through homogeneous transformation and jacobian matrix was reached as well, which provided the basis for kinematics analysis, simulation and performance optimization

    （ 2 ）採用denavit - hartenberg方法設定了番茄收獲機械手桿件坐標系，通過齊次變換建立了正運動學與逆運動學模型，獲得了番茄收獲機械手雅可比矩陣，為機械手運動學分析、模擬與性能優化奠定了理論基礎。
  13. General pkm has no analytic positive solutions, which mirrors in the analysis of kinematic and dynamic. jacobian matrix can not be gained ; when solving the problem with the digital algorithm of gauss - elimination, the coefficient matrix of linear equations group is high degree illness

    一般並聯機構沒有解析正解，反映在運動和動力學分析過程中為無法求得雅可比矩陣；當採用高斯消去法的數值解法解雅可比矩陣的方程組或求逆時會發現系數矩陣是高度病態的。
  14. ( 6 ) the analysis on singularity configurations of the manipulator were investigated by the singular value decomposition of jacobian matrix, which was treated with the damped least - square method in the motion. from the results obtained it was indicated that the minimum singular value of manipulator calculated by the damping jacobian matrix were far from zero position. velocity, position and accelerate of all the joints of manipulator moved regularly, consequently the problem that the joint of mani

    （ 6 ）通過雅可比矩陣奇異值分解進行番茄收獲機械手奇異性分析，並採用阻尼最小二乘法對機械手運動中的奇異位形進行處理，使番茄收獲機械手最小奇異值遠離零點，各關節運動速度、位置和加速度運動無異常波動，解決了機械手在奇異位形處某些關節運動無法控制的問題。
  15. First, the jacobian matrix of the system is derived from a kinematics analysis. then the dynamic equations for each part are deduced using the newton - euler method. at last the driving forces of the active joints are calculated, by using the principle of d ’ a lembert

    本文對6 - prrs並聯機器人的動力學進行了分析，分別計算了各個構件的雅可比矩陣，得出了114階的系統雅可比矩陣;然後利用牛頓-歐拉法詳細推導了6 - prrs並聯機器人的動力學方程，結合d 』 alembert原理求出了6個主動關節的驅動力。
  16. The jacobin matrix and its elements for differential - algebraic equation simultaneous solution with newton method are formed. the network injection current and its partial differential coefficient are also derived. so, the basic calculation formulas for the full dynandc simulation are established

    導出了牛頓法聯立求解微分方程組和代數方程組的雅可比矩陣，以及雅可比矩陣各元素的計算公式；導出了網路方程中電流注入量及偏導數的計算公式。
  17. Through the mathematical evaluation or derivation of this algorithm, a novel newton based power flow method with a direct factorization formulation of jacobian matrix is proposed for radial distribution systems

    通過對前推回推法求解過程的數學演化，導出一種新的牛頓類型的演算法及其雅可比矩陣直接分解公式。
  18. The jacobian matrix of the 6 - prrs parallel robot has been computed by two methods. one is differential coefficient based on symbol operation, the other is vector construction

    對於6 - prrs並聯機器人的雅可比矩陣，分別使用了基於符號運算的微分構造法和矢量構造法進行求解，並驗證了兩種方法的正確性。
  19. According to the measured values of the joint angles and the end - effector positions, jacobian matrix is calculated, and errors between the desired and the measured positions of the end - effector are exported to the least square method to determine the compensation for the dimensional parameters of the robot

    通過機器人關節角和末端手爪位置的測量數據，計算雅可比矩陣以及手爪位置理論值和實測值的誤差，採用最小二乘法對機器人的尺寸參數進行補償量的計算。
  20. In this paper, some efficient schemes are presented to resolve the problem that estimated image jacobian deteriorates over time in image - based visual servoing control approach without calibration. the most effective method is using " exploratory motion ", which considerably improve the precision and velocity of vision guiding

    為避免這一情況的發生，本文給出了一種通過動態估算雅可比矩陣來代替實際雅可比矩陣的方法，並且對採用此策略時存在的對圖像雅可比矩陣的估算隨時間變壞的問題給出了一些改進措施。
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