programmed trajectory 中文意思是什麼
programmed trajectory
解釋
程序彈道- programmed : 程序控制的
- trajectory : n （拋射體的）軌道，彈道；流軌；【幾】軌線。 a curved [direct fire flat highangle fire low] traje...
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Second, the author introduced a new stability region, and programmed a trajectory of variable zmp, which was defined as a cosine curve ; the author also designed a cog - compensated method to keep the cog ’ s height ; based on dynamics of 3 - d inverted pendulum, the author educed the cog ’ s trajectory equation of the robot in the three - leg - support phase, and used third - order splint function to ensure the acceleration continuity of the robot ’ s cog in the four - leg - support phase. at last, walking patterns of the corresponding gait are generated through programmer design
然後，提出了一種新的支撐區域選取方法，採用了按餘弦規律變化的zmp運動軌跡;為了維持機器人行走時重心高度不變，採用了一套有效的質心高度保持方法;基於三維倒立擺模型，推導了機器人三腳支撐期質心運動軌跡方程;採用三次樣條曲線插值規劃了四足支撐期加速度連續的質心運動軌跡。 -
As the legged system has a similar dynamics to that of three - dimensional inverted pendulum mode, whose supporting point is equivalently located at the zmp, what is more, there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ), so this paper proposed the method that controls the cog of the whole humanoid body system in real - time through the 3 - d inverted pendulum based on variable zmp : first, the irregular terrain analyzed and described, the author proposed an usual obstacles - spanning method, based on the position and the shape of obstacles, the author programmed the smooth trajectory of anklebones
由於機器人的腿系統和三維倒立擺模型有著相似的動力學特徵，模型的支撐點就是機器人的零力矩點zmp ，另外零力矩點zmp和重心cog之間存在著動態關系，本文採用基於可變zmp的三維倒立擺動力學原理來對類人猿機器人進行質心軌跡生成。首先，通過對復雜地況進行分類統一描述，提出了一套通用的越障軌跡規劃方法，結合復雜地況下障礙的位置和形狀，規劃了機器人連續的踝關節軌跡。 -
Secondly, after analyzing the advantages & faults of time - domain simulation and the direct methods, this paper points out the key of developing the transient stable methods is the integration of both. the cct - calculating method is presented which is based on the trajectory sensitivity and the hybrid method. and the time - domain simulation program has been programmed
（ 2 ）在分析了電力系統暫態穩定分析方法的時域法模擬法和直接法的優缺點之後，指出暫穩分析方法的發展在於二者的結合，提出了基於軌跡靈敏度的時域法和直接法相結合的暫穩分析方法，並將該法應用於臨界切除時間的計算。 -
And, the gait parameters of the biped walking robot is defined. according to anthropic walking trait, the robot walking action is rationally programmed by divided posture and time. the foot of trajectory is programmed in order to complete preconcerted target
根據人類行走的特點，採用分相和分期的原則對于機器人行走的動作進行了合理規劃，給出了機器人行走過程中動作的順序，並對機器人在一個周期時間內行走時間進行了合理分配。
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