joint trajectory 中文意思是什麼

joint trajectory 解釋
節點軌跡
  • joint : n 1 接合，榫接合處，接合點。2 【解剖學】關節。3 【植物；植物學】節。4 【電學】接頭。5 【建築】接...
  • trajectory : n （拋射體的）軌道，彈道；流軌；【幾】軌線。 a curved [direct fire flat highangle fire low] traje...
  1. The very important works by the researchers in the modeling and control for flexible manipulators are introduced ; the equations of the non - holonomic constrain and dynamics are formulated. on the base of dynamic model function derived by the planar two - link flexible manipulator, the model function can be obtained by coordinate transformation ; at last the control scheme based on model of the system is put in to use to insure track desired trajectory of joint angle

    在第四章中，首先，我們對柔性機械臂的動力學建模和系統控制問題做了比較全面的介紹；然後，運用lagrange方程並結合假設模態法建立了平面兩桿柔性空間機械臂系統的動力學方程。在此基礎上，通過坐標變換導出了以可測關節角為控制輸出變量的系統控制模型，基於此控制模型提出了柔性空間機械臂關節運動的動力學優化控制方案。
  2. Through inverse kinematics resolved, each joint trajectory of the entire process was obtained

    在此基礎上，由逆運動學求解得到連續運動的各關節軌跡。
  3. The cycloid function is used to generate the horizontal and vertical foot trajectory respectively, and a modified cycloid function is used to make the acceleration curve of the joint more smooth and successive, the trajectory and drive moment of each joint is calculated by simulation

    使用擺線函數分別產生足的水平和垂直方向的運動軌跡，用修正擺線函數使其加速度進一步平滑、連續，對各關節的運動軌跡和關節驅動力矩進行了模擬。
  4. Due to the fact that joint position errors decrease when the jerk decreases, comparisons with an alternative global optimum target relating to minimum - jerk ( mj ) trajectory are exposed and the favorable joint trajectories are obtained by introducing a factor

    考慮到加速度變化率對路徑跟蹤的影響，比較與加速度變化率相關的不同的優化目標函數時的路徑跟蹤性能，提出引入一個時間系數來修正運動總時間，獲得跟蹤性能良好的關節軌跡。
  5. Then the behavior of the free joint when we bring the periodic perturbation through controlling the actuated joint is analysed, we can find in the result that the behavior of the free joint in the phase plane follows an ordered closed trajectory with the center equilibrium point + 2 in the case where the amplitude of the input is small, we can define a weakening factor to make the position of the free joint reach the center equilibrium point + 2

    通過相平面分析的方法分析了當驅動臂施加周期擾動對非驅動臂運動的影響，其結論為通過調整驅動臂周期擾動的幅度及極性，可以使非驅動臂沿著圍繞平衡點2的極限環軌跡運動。在此基礎上，提出衰減因子的概念，通過衰減因子調整驅動臂擾動的幅度和周期，使非驅動臂能夠穩定在平衡點2 。
  6. The simulation results show that the real system and the average system have the same trajectory in the phase plane under the disturbance of periodic input of the actuated joint of the robot

    然後利用平均值法對真實系統進行平均化簡化，推導出真實系統的平均化模型。
  7. We have simplified the model through obtaining the average system of the underactuated robot using averaging method which is efficient to deal with nonlinear system. the simulation results show that the real system and the average system have the same trajectory in the phase plane under the disturbance of periodic input of the actuated joint of the robot

    將驅動臂的運動作為非驅動臂的擾動，建立了非驅動臂的動態模型，利用動態方程有效的近似解法?平均法，對非驅動臂的動態模型進行簡化，得到近似的平均系統，通過模擬計算驗證了二者具有相同的動力學特性。
  8. Trajectory planning in joint space based on tri - branch robot

    基於三分支機器人關節空間軌跡規劃的研究
  9. According to the analyzing results upwards, the author completed trajectory plan for the moving platform, analyzed conditions avoiding obstacles when the robot is moving, and completed trajectory plan for the mechanical arm based on joint - space and descartes - space according robot ’ s assignments

    機械臂的運動學和動力學分析之後，對全方位輪式移動機構進行了定位分析，建立運動模型和基本動作規則庫，並對全方位輪式移動機構進行路徑規劃。
  10. A distributed control strategy is used and a high robust auto - disturbance - rejection - controller ( adrc ) is designed in joint space of robot to implement the high - precision trajectory tracking of 6 - prrs parallel robot

    摘要針對6 - prrs並聯機器人控制系統的非線性、耦合等特性，採用分散控制策略，在關節空間設計強魯棒性的自抗擾控制器對其進行控制。
  11. Based on the results and with the augmentation approach, an adaptive control scheme for space robot system with unknown payload parameters to track the desired trajectory in joint space is developed

    該系統動力學方程的優點是關於一組組合慣性參數能保持慣常的線性函數關系。
  12. As neural network has the ability of self - learning, that utilizes prior output data of uncertain system to estimate iteratively the static state property of system in order to achieve ideal approaching precision for identification of the positive model, a robust iterative learning control scheme on the basis of better positive model is designed. the neural network is used to identify the positive model of nonlinear system on iterative axis, which can give feed - forward action of iterative learning controller to reduce the effects of nonlinear properties and model uncertainties. meanwhile, feedback action of iterative learning controller make joint movement follow the desired trajectory on time axis by using controlled parameters derived by the neural network

    由於神經網路具有自學習能力，它可利用不確定性系統的歷史輸出數據對系統的穩態特性進行估計，使得對系統正向模型的辨識達到理想的逼近精度，然後在此正向模型的基礎上進行學習控制律的設計：即採用神經網路辨識非線性系統的正向模型，並消除系統不確定性和外部干擾的影響，使關節運動沿迭代軸方向逼近期望軌跡；迭代學習控制器在線學習控制參量，使關節運動沿時間軸方向跟蹤期望軌跡。
  13. With boundary conditions different from the conventional method, the dynamic equation is developed, which can be used to find input joint angles or input joint torques for the specified trajectory of the end - effector

    通過採用與通常方法不同的邊界條件，推導出了給定機器人末端任務求解機器人輸入關節角和關節力矩的柔性機器人動力學方程。
  14. The trajectory planning is in the joint space. by simulation of the polynomial interpolation and the parabola interpolation, the former is chosen, which is a part of off - line programming

    關節空間的軌跡規劃，選擇多項式插值，通過模擬證明該多項式插值方法比拋物線插值方法更適用於解決該問題，方便機器人的離線編程。
  15. The dynamic equations are derived, which can be used to obtain the trajectory of the end - effector for given input joint angles or input joint torques

    由此推導出了對于給定的關節輸入求解柔性機器人末端軌跡的動力學方程。
分享友人
分享到 Line

分享到臉書