redundant moment 中文意思是什麼
redundant moment
解釋
冗餘力矩-
The optimum balancing of a four bar linkage with elastic links is studied, in which the control torque of redundant drives is taken as the design variable, and the shaking force and shaking moment of the mechanism are taken as the objective. the numerical simulation shows validity of the method
針對一平面彈性四連桿機構，以其震動力和震動力矩的加權和為目標函數，以冗餘驅動力矩為變量，對附加冗餘驅動的彈性機構進行最優平衡，其模擬結果表明該方法是有效的。 -
Planning the end - effector ' s motion by utilizing reduced manipulability and center index can guarantee higher dexterity ability for redundant manipulators at failure moment. since in advance the end - effector ' s motion is in the corresponding center of fault tolerant workspace, it is guaranteed that the reduced manipulator can accomplish the unfinished task after the failure and can constantly keep higher dexterity ability during the post - failure operation. thirdly, fault tolerant planning is researched through simulation examples for a planar 3r manipulator and a spatial 4r manipulator
採用退化可操作度和中心度指標來規劃機械臂末端軌跡，能保證冗餘度機械臂在發生故障時刻具有較高的操作能力；由於預先將末端軌跡置於相應容錯空間的中心，不僅保證發生鎖定故障后能繼續完成後續的操作任務，還能保證退化后的非冗餘度機械臂在完成後續操作任務的過程中，始終保持較高的操作能力。 -
In this dissertation ， fault tolerant planning of kinematical redundant manipulators for locked joint failures is discussed. the synchronous fault tolerant planning at failure moment and after failure moment for redundant manipulators is systemically investigated. besides, the preliminary research of fault tolerance for coordinating manipulators is done
本文針對冗餘度機器人發生鎖死故障類型進行了研究，對其故障時刻和故障后的同步容錯軌跡規劃問題進行了深入、系統的分析，此外還對兩機器人的協調操作問題進行了初步模擬研究。
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