manipulator joint 中文意思是什麼

manipulator joint 解釋
機械手關節
  • manipulator : n. 1. 用手處理[操作]的人；巧于處理的人。2. 操縱者；控制器。3. 竄改者。4. 運動器具；【攝影】板架，保板器。
  • joint : n 1 接合，榫接合處，接合點。2 【解剖學】關節。3 【植物；植物學】節。4 【電學】接頭。5 【建築】接...
  1. The inverse kinematics of a space - based manipulator composed of three rigid bodies with prismatic joint are studied in the second chapter, and the jacobean matrix for space manipulator is derived by fully cartesian coordinates. a control method for space manipulator based on the resolved motion rate control concept is proposed

    為此結合系統動量及動量矩守恆關系導出了以完全笛卡爾坐標表示的系統運動jacobi矩陣，並在此基礎上研究了帶滑移鉸空間機械臂的分解運動速度控制方法，給出了計算機數值模擬算例，以此證明了該方法的有效性。
  2. Then, the discussion of the influence of linear part, the lumped mass of the rigid links and the angular acceleration of flexible joint actuators on the non - linear dynamic character of flexible joint manipulator with flexible links is done

    問中還就關節線性項、桿的集中質量和關節驅動加速度對關節非線性特性表現的影響進行了討論。
  3. A numerical simulation of a planar 3r manipulator is performed. the results show that the non - linear torsion springs have important influences on the joint error and tip error of manipulators. moreover, the influences of linear part of non - linear, the lumped mass of the rigid links and the angular acceleration of joint actuators on the non - linear dynamic character of flexible joint manipulator are discussed

    首先，建立了剛性桿非線性關節機器人的動力學模型，之後通過一平面3r機器人進行了數值模擬，說明了在一定情況下，關節的非線性對剛性桿機器人關節變形和末端誤差具有重要影響，並在此基礎上，討論了關節線性項、桿的集中質量和關節驅動加速度對機器人關節非線性特性的影響。
  4. It was indicated that the ww satisfied the design requirements of the manipulator. the aw expanded with the increasing of the end link and the end - effector length, while the dw and the dexterity of manipulator reduced accordingly. in addition, the length of link 3 and link 5 and the angle range of joint 5 should be chosen reasonably in order to decrease the cavum volume in the workspace

    腕點工作空間滿足機械手設計要求，末桿長度與末端執行器長度對總工作空間與靈活工作空間有較大影響，隨著其長度增大，總工作空間增大，但相應的靈活工作空間減小，機械手靈活性降低；為減小工作空間中空腔區域體積，桿件3 、桿件5的長度與關節5的轉角應合理選擇。
  5. 2. dynamics analysis : by setting up jacon matrix differential coefficient sport is passed to descartes space. it makes terminal executing manipulator produce differential coefficient of acceleration and force in every different coordinates can be got. then the effective inertia, coincident inertia and gravity load of two manipulators are calculated by lagrange method. so generalized joint torque of each joint is got, and along with equivalent driving torque, actual driving torque of each joint can be worked out. 3

    動力學分析：建立雅可比矩陣將關節空間的各關節的微分運動傳遞到笛卡爾空間，使末端執行器位姿產生微分運動，以用於求加速度及力在不同坐標系間的線性變換，再用拉格朗日法計算兩機械手的有效慣量、偶合慣量、重力載荷，從而計算得到各關節的廣義關節力矩，並與等效驅動力矩共同算得各關節的驅動力矩。
  6. 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。
  7. The dynamic characteristics of contact force for the flexible joint manipulator of harmonic drives

    諧波驅動柔性關節機械臂接觸力的動態特性
  8. The joint velocity could be guaranteed smoothly continuous so long as the end velocity of the manipulator was smoothly continuous, and when joint velocity limit was added, the joint velocity could be guaranteed continuous

    只要機器人的末端速度是連續光滑的，那麼關節速度必然是連續光滑的;當加入關節速度極限約束時，能夠保證關節速度是連續的。
  9. ( 6 ) the analysis on singularity configurations of the manipulator were investigated by the singular value decomposition of jacobian matrix, which was treated with the damped least - square method in the motion. from the results obtained it was indicated that the minimum singular value of manipulator calculated by the damping jacobian matrix were far from zero position. velocity, position and accelerate of all the joints of manipulator moved regularly, consequently the problem that the joint of mani

    （ 6 ）通過雅可比矩陣奇異值分解進行番茄收獲機械手奇異性分析，並採用阻尼最小二乘法對機械手運動中的奇異位形進行處理，使番茄收獲機械手最小奇異值遠離零點，各關節運動速度、位置和加速度運動無異常波動，解決了機械手在奇異位形處某些關節運動無法控制的問題。
  10. Its new global dynamic model in terms of measured joints is derived by coordinate transformation, and the decoupled control equations for joint relative angles and elastic parts of the flexible manipulator are obtained with the model - based nonlinear decoupling feedback control method

    通過坐標變換，推導出一種新的以可測關節角為變量的全局動態模型，並在此基礎上運用基於模型的非線性解耦反饋控制方法得到關節相對轉角與柔性臂的彈性變形部分解耦形式控制方程。
  11. During the period of the structure designing, the mode of modularization, integration, miniaturization and the structure optimization is introduced to obtain the goal of simplifying the pipeline, reducing the leak of the hydraulic cylinder, decreasing the manufacture and maintenance costs of this manipulator system, overcoming the shortcomings of some traditional hydraulic systems effectively. the practicability, flexibility and reliability of this advanced hydraulic joint is demonstrated according to its " remarkable characteristic of decoupling, tracking, avoiding the obstacle

    在結構設計中，融入了模塊化、小型化、集成化與結構優化等設計思想，達到了簡化系統管路、控制系統泄漏、降低系統製造與維護成本等設計目的，有效地克服了傳統液壓裝置的不足；通過對該關節的解耦特性、跟蹤特性、避障特性進行分析和論證，進一步明確了這種新型關節的先進性、實用性與可靠性。
  12. Ball joint manipulator

    球承機械手
  13. This is not sufficient to represent the dynamic character of flexible joint manipulator because of the complexity of actual joint. in this thesis, an attempt at considering the flexible joint as non - linear torsion spring has been made

    而實際上，由於關節的復雜性，線性扭轉彈簧並不能完全表現出柔性關節機器人的動力學特性，本文正是針對這一問題，對柔性機器人柔性關節的非線性特性進行了研究。
  14. At last, using the two famous cae software adams and ansys, the simulation models of flexible joint manipulator with rigid links and flexible joint manipulators with flexible links are established on the basis of the actual structure. the flow chart of the simulation arithmetic is then presented and two numerical examples are given. in comparison of the simulation results and calculation results, the utility of the calculation model and simulation model have been illustrated

    最後，利用著名的多體動力學模擬軟體adams和有限元分析軟體ansys ，結合實際結構，建立了剛性桿柔性（非線性）關節、柔性桿柔性（非線性）關節兩種柔性機器人的模擬模型和工作流程圖，分別針對上述實例進行動力學模擬分析，通過對計算結果和模擬結果的比較，驗證了計算模型和模擬模型的正確性。
  15. With references to tae - yong kue kwanghee nam and jin s. lee ' s [ 32 ] literatures, algorithm b was obtained after modifying algorithm a. the output signal of industrial robotic manipulator controller is correspondence with the torque provided by each joint

    Lee的研究成果，得到簡化的機械手反饋迭代學習控制律（演算法b ） 。摘要?工業機械手控制器的輸出信號是與每個關節電機所需提供的轉矩相對應的。
  16. A kind of multilayer forward neural network based on improved genetic algorithm is applied to build the inverse kinematics model of manipulator, aim at the model, each operator and coding plan of the improved algorithm are discussed in detail, because the first joint of the robot is not rotational, for to unify to the fitness function, the relation model between every joint of the robot and corresponding electromotor rotational angle which is regarded as output sample neural network is build

    為此，我們提出應用基於改進的遺傳演算法的神經網路來建立機器人運動學逆問題模型，針對該模型，詳細討論了改進后的遺傳演算法的各個運算元以及編碼方案，並針對該機器人第一關節是平動關節，建立了該機器人各關節與相應驅動電機轉角之間的關系模型，將各關節驅動電機的轉角做為神經網路訓練樣本對的輸出樣本，為統一到適應度函數的公式中做了必要的準備。
  17. Based on big central hole design method, a space manipulator modular joint is developed, which includes many sensors, such as position sensor, torque sensor and temperature sensor

    摘要採用大中心孔設計方法成功地研製了高集成度空間機械臂模塊化關節。
  18. And the manipulator based on this novel joint, will play an important role in the technical enhancement and popularization of the industrial robot

    基於這種新型關節所構造的機器人操作臂將對工業機器人的技術提高和推廣應用起到十分重要的作用，其應用前景將十分廣闊。
  19. ( 7 ) based on the analysis of the error of all kinds of flexible joints, a new structure of micro - manipulator, which only with turn joint, was suggestted

    對現有的誤差消除方法進行了分析比較。採用不考慮結構參數，把機器人作為一個黑箱進行整體標定的方法。
  20. The design and application problem of the vision system for a six - joint robot manipulator

    六軸機械手視覺系統的設計和應用問題。
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