離節跡 的英文怎麼說
中文拼音 [líjiéjī]
離節跡
英文
anodal trace-
He unbuttoned successively in reversed direction waistcoat, trousers, shirt and vest along the medial line of irregular incrispated black hair extending in triangular convergence from the pelvic basin over the circumference of the abdomen and umbilicular fossicle along the medial line of nodes to the intersection of the sixth pectoral vertebr aelig ;, thence produced both ways at right angles and terminating in circles described about two equidistant points, right and left, on the summits of the mammary prominences
然後又反過來自下而上地依次解開背心長褲襯衫和內衣紐扣。他那雙手的軌跡從參差不卷縮起皺的黑色體毛的中心線也就是自骨盆底到下腹部肚臍眼周圍那一簇簇體毛，又沿著節結的中心線進而延伸到第六胸脊椎的交叉點，從這里又向兩側叢生，構成直角形，在左右等距離的兩個點，即環繞乳頭頂端形成的三角形收斂圖形的中心線穿行。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。( 3 ) by the optimization experiments on several kinds of standard test functions, the calculation of off - line performances and the comparisons to another optimization algorithm, the effectiveness and the superiority of iga are got. ( 4 ) multi - object strategy that consists of the joints " best compliance critic and the location critic is proposed to uniquely determine the inverse kinamatics solution in planar redundant manipulator trajectory planning. next, by the introdu
3 、通過對兒類標準測試函數的優化實驗、優化離線性能的計算和與其他優化方法尋優效果的對比表明了的有效性和優越性； 4 、針對冗餘度機械手的軌跡規劃問題，提出了融合關節最佳柔順性準則和定位控制準則的多目標策略，從而在理論上保證了運動學逆解的唯一性。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。分享友人