kinematic singularity 中文意思是什麼

kinematic singularity 解釋
運動學奇點
  • kinematic : adj. 【物理學】運動學（上）的。adv. -ically
  • singularity : n. 1. 奇特；特別；非凡，異常；奇特的東西；怪癖，特性。2. 〈罕用語〉獨一，單一，獨個。3. 【天文學】奇點〈宇宙物體收縮至無限大密度和無限小體積的空間的一個假想點〉；【數學】奇點。
  1. 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。
  2. According to the structures of jacobian matrixes of kinematics, statics and dynamics, the relationships among kinematic singularity, static singularity and dynamic singularity are explored on the parallel manipulators similar with stewart platform. it is found that the three kinds of singularities occur simultaneously

    根據運動學、靜力學和動力學的三種jacobian變換矩陣結構，研究了類stewart平臺結構的並聯機器人運動奇異性、靜力奇異性和動力奇異性三者之間的關系，得出了三種奇異性同時發生的結論。
  3. In this paper, damped least - square method utilized to overcome kinematic singularity of robotic manipulators was improved, which achieved more accurate tracking compared to the traditional method. singular value decomposition ( svd ), to which was attached great importance in singularity - robust inverse kinematics and kinematic control of redundant manipulators, was investigated. also, an overwhelmingly utilized algorithm of svd was improved and some possible problems encountered in joint failure issues and redundant issues when using this algorithm was deeply discussed

    本文改進了解決機器人運動學奇異的阻尼最小二乘法，同傳統的阻尼最小二乘法相比具有更高的跟蹤精度;研究了在機器人奇異魯棒性逆運動學、機器人冗餘運動控制中佔有重要地位的矩陣奇異值分解，對一種應用廣泛的奇異值分解演算法做了改進，並對其在關節卡死和冗餘控制中可能遇到的問題做了較為深入的討論，系統地描述了一階運動學實現方案，為軌跡規劃打下了堅實的基礎。
  4. Based on the maximal independent line vectors for different geometrical conditions and the kinematics principle, seven singularity types of 3 - 6 stewart manipulator are analyzed and derived, including geometrical and kinematic properties in the singular configurations of these types

    根據線矢量的線性相關性和奇異的運動學原理，分析和確定了3 - 6stewart機構奇異的7種類型及其各種類型情況下奇異的幾何和運動性質。
  5. Because of the merits of high structural stiffness, small motion inertia, high kinematic precision and so on, the parallel robot has obtained the more and more widespread application ; but the parallel robot has also the unsafe factors like kinematic singularity, link interference, joint restriction and so on. these will induce that the parallel robot mechanism is destroyed

    並聯機器人由於具有結構剛度大、運動慣性小、輸出精度高等優點，近年來獲得了越來越廣泛的應用;但是並聯機器人也存在運動奇異性、連桿干涉、鉸鏈約束等不安全因素，這些會造成並聯機器人機構的破壞。
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