標臂比 的英文怎麼說
中文拼音 [biāobèibǐ]
標臂比
英文
lever-arm ratlo-
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。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。The problem due to the non perfect coincidence of the base coordinate frame of the flexible measuring arm with the coordinate frame of cmm was solved
由於所研製的測量臂採用了比較穩定的機械結構以及輸出比較穩定的角度編碼器,因此標定效果比較明顯。
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