航跡沖程 的英文怎麼說
中文拼音 [hángjīchōngchéng]
航跡沖程
英文
track reach-
A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed, accordingly, the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived. utilizing the muir and newman convention, the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced. according to posture estimation, a more accurate method, dead reckoning algorithm, is developed for a specified configuration characterized by differential speed motorization, and simulations of this algorithm and other traditional methods are carried out using matlab while traversing a circular path
本文對兩輪差速驅動移動機器人的運動學及其本體緩沖設計進行了探討，在對平面運動物體運動分析的基礎上結合四種常用車輪的數學模型，推導出了一個通用的移動機器人堆積方程，在此基礎上分析了移動機器人的移動能力、並針對兩輪差速構型推導了速度正解與逆解；使用muir和newman的運動學建模方法，推導了移動機器人上點及連桿坐標系位姿、速度變換關系矩陣及求解方法；在移動機器人位姿識別方法中結合差速驅動構型對航位推演算法進行了分析：推導了一種理論精度較高的航位推算演算法，並使用matlab對其與傳統的推算演算法在跟蹤圓弧軌跡情況下進行了模擬；最後針對本文所研究的機器人給出了一種比較系統、可靠的緩沖結構設計思路，較好地解決了移動機器人作業過程中外界因素及本身設計中引入的各種不確定誤差問題；本論文研究成果已在本實驗室所開發的樣機上得到實現，經過應用與考核證明其中的分析與設計是切實可行的。The study comes from two projects - " the practical experiment of ship navigation and the simulation study of the shu - tong yangtze river road bridge " and " the study on the ship navigation of the yichang yangtze river railway bridge ". the data is from these practical experiment which includes z - model experiment of sea - going vessel and fleet, turning motion experiment, stroke experiment and encounter experiment between sea - going vessel and fleet. based on those, it calculates the track of the ship in the navigational waters according to the maneuverability and the response equation
本文結合導師課題， 「蘇通長江公路大橋船舶通航實船試驗及模擬研究」 ，和「宜萬鐵路宜昌長江鐵路大橋船舶通航問題研究」通過大量的實船試驗：海船及船隊的z型試驗、旋迴圈試驗、沖程試驗和海船及船隊在橋區的航行會船試驗等，以試驗的數據為依據進行理論分析、計算，然後根據船舶的操縱性能及操縱響應方程，計算船舶在橋區的運動要素及航跡。
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