zmp 中文意思是什麼

zmp 解釋
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  1. Firstly, this paper finished the general design of system control, planned the control structure and the method of generating joint track, and implemented a working mode, which included a multi - levels control scheme, off - line planning and real - time zmp errors adjustment. and all these can guarantee the flexibility for adjusting gait while the robot is walking

    本文首先對人形機器人的控制系統進行總體設計，對控制結構和關節軌跡生成方式進行規劃，採用分層遞階的控制結構，離線規劃和zmp誤差實時調整相結合的工作模式，實現機器人穩定行走時步態調整的靈活性。
  2. The assemblage angle and maximum step are studied, the method to calculate the maximum step of random structure paramers and random walking orientations is proposed and some formulations are deduced. the singularity and singularity workspace are analysed. based in zmp theory, the track programming is finished depending on leg position workspace

    根據zmp理論，在腿位置運動空間內作了軌跡規劃，劃分了步行周期，求出了腳圓心的軌跡，對速度和加速度作了規劃，應用離線軌跡規劃方法，給出了離線求取桿長伸長值及速度值的演算法框圖。
  3. At last, under the environment of matlab, taking the track of zmp as the restrain and the minimum accelerations of joints as the optimizing aim, the parameter, which is supposed in the walking pattern design based on parameter, is optimized by genetic algorithm

    最後，在matlab環境下採用有約束的遺傳演算法，以zmp點的軌跡作為約束條件，以關節加速度最小為優化目標，對參數化步態設計中的參數進行優化並進行模擬。
  4. Second, the author introduced a new stability region, and programmed a trajectory of variable zmp, which was defined as a cosine curve ; the author also designed a cog - compensated method to keep the cog ’ s height ; based on dynamics of 3 - d inverted pendulum, the author educed the cog ’ s trajectory equation of the robot in the three - leg - support phase, and used third - order splint function to ensure the acceleration continuity of the robot ’ s cog in the four - leg - support phase. at last, walking patterns of the corresponding gait are generated through programmer design

    然後，提出了一種新的支撐區域選取方法，採用了按餘弦規律變化的zmp運動軌跡;為了維持機器人行走時重心高度不變，採用了一套有效的質心高度保持方法;基於三維倒立擺模型，推導了機器人三腳支撐期質心運動軌跡方程;採用三次樣條曲線插值規劃了四足支撐期加速度連續的質心運動軌跡。
  5. Based on variable zmp and dynamics of 3 - d inverted pendulum, we educed the cog ( center of gravity ) ’ s trajectory equation of the robot in the single - support phase and transition of locomotion phase. and we used third - order spline function to ensure the acceleration continuity of the robot ’ s cog in the double - support phase. thereby, the smooth trajectory of cog was gained by planning

    由基於可變zmp和三維倒立擺的動力學原理，推導出了單腳支撐期內和步行方式轉換期間機器人的質心運動軌跡方程;並採用三次樣條曲線來保證機器人在雙腳支撐期質心加速度的連續性，從而由規劃得到了光滑的質心運動軌跡。
  6. Furthermore, based on the zmp theory, the structure and gait optimization method were integrated to modify the gait locomotion

    進一步基於零力矩點理論，提出了一種綜合機構修正和步態修正方法的步態規劃集成優化策略。
  7. Firstly, gait pattern of humanoid robot is designed, which makes walking process of humanoid robot more stable and closer to real people. this is proved by zero moment point ( zmp ) criterion

    首先，本文對擬人機器人的步態進行了協調運動規劃，利用零力矩點（ zmp ）判據證實該規劃提高了步行的穩定性，美化了步行姿態。
  8. As the legged system has a similar dynamics to that of three - dimensional inverted pendulum mode, whose supporting point is equivalently located at the zmp, what is more, there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ), so this paper proposed the method that controls the cog of the whole humanoid body system in real - time through the 3 - d inverted pendulum based on variable zmp : first, the irregular terrain analyzed and described, the author proposed an usual obstacles - spanning method, based on the position and the shape of obstacles, the author programmed the smooth trajectory of anklebones

    由於機器人的腿系統和三維倒立擺模型有著相似的動力學特徵，模型的支撐點就是機器人的零力矩點zmp ，另外零力矩點zmp和重心cog之間存在著動態關系，本文採用基於可變zmp的三維倒立擺動力學原理來對類人猿機器人進行質心軌跡生成。首先，通過對復雜地況進行分類統一描述，提出了一套通用的越障軌跡規劃方法，結合復雜地況下障礙的位置和形狀，規劃了機器人連續的踝關節軌跡。
  9. Because of the errors of mechanical model and ground, the real position of zmp differs largely with the ideal zmp, which needs to compensate by joint movement

    其次，由於機構模型誤差和地面狀況的差異等原因，實際的zmp位置和zmp理想位置存在很大的差異，需要機器人的關節運動補償誤差。
  10. In order to realize biped steady dynamic walking, this paper adopted a trajectory of variable zmp ( zero moment point ), which was defined as a cosine curve

    為了實現雙足穩定動步行，本文採用了餘弦可變zmp （ zeromomentpoint ）運動軌跡。
  11. Finally, the control algorithm using key joint to compensate zmp is proposed

    實驗表明，選擇出來的關鍵關節對zmp誤差的補償比較有效。
  12. After some analysis, this paper finds how much every joint effect the zmp tracks. then the most effective joint is chosen as key joint

    本文經推導得到各關節對zmp位置軌跡的影響，選擇出對zmp影響最大的關節作為關鍵關節，利用關鍵關節補償zmp誤差。
  13. The main task of software is to detect the real zmp position for organizing layer, carry out the compensation algorithm of key joint and realize time - sharing control of multi motors. the two layers communicates through can bus

    軟體部分主要完成組織層的zmp實際位置檢測和關鍵關節補償演算法，執行層的多電機分時控制，兩層通過can總線實現通訊。
  14. Detailed description of the zmp

    Zmp考試的詳細資料
  15. According to the robot of trait, the robot of kinematics is analysed by inverse kinematics. the coordinate transform in kinetic course was given. and the velocity and acceleration is analysed by influence coefficient. the changeable velocity and acceleration of curve in the ideal condition is designed and analysed. based on zmp theory, formula calculates zmp by direct and indirect means is deduced

    利用影響系數的方法給出了機器人速度和加速度公式，給出了機器人在理想狀態下行走的各分支機器人速度和加速度的變化曲線，對曲線進行了分析，指出對應于實際行走過程中每一段曲線的意義，為機器人的控制打下了堅實的基礎。
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