提出的运动轨迹规划方法对一般的6自由度绳牵引并联机构都适用。
Also, the method of motion trajectory planning proposed is applicable for general 6-dof wire-driven PKMs.
对工业机器人运动轨迹规划和控制的研究，一直受到人们的普遍关注。
The trajectory planning and its control have been paid enough attention by researchers in the world.
本学位论文对空间超冗余度机器人的设计及空间运动轨迹规划开展研究，具有重要科学意义和应用价值。
This thesis focuses on design and motion planning of spatial hyper-redundant robot, which is meaningful to both academic and engineering application.
由于它在理论和应用中的重要地位，对工业机器人运动轨迹规划和控制的研究，一直受到人们的普遍关注。
Due to its importance in theory and application, the trajectory planning and its control of industry robot has been paid enough attention by researchers in the world.
该算法在CAD模型分割、建造、几何特征提取、生产车间以及机器人运动轨迹规划等方面都有很高的应用价值。
The algorithm have large application value in the many fields such as models partition, constructing, geometric character distilling in CAD, the manufacture shop and robot motion track planing.
基于最优载荷分配，针对双臂机器人协调运动的关节轨迹规划进行研究。
Based on the minimal load distribution, the joint trajectory planning was researched for coordinate motion of dual-arm robot in this paper.
工业控制计算机进行空间轨迹规划计算而DMC实现关节运动的控制。
The computation of spatial trajectory planning was carried out by industrial computer, while joints motion control was performed by DMC.
根据轨迹函数、规划参数可以计算出各坐标轴的瞬态运动参数。
Its geometrical parameter and planning parameter should be followed in calculating the transient motion parameters of all coordinate axes.
另外对二自由度稳定平台进行了轨迹规划和生成，推算出平台的运动参数。
Then parameter of motion is calculated after confirming the kinetic track of the two-degree of freedom stabilized platform.
本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法。
In this paper, an efficient method of joint trajectory planning for industrial manipulator is developed, having considered the dynamic constraint of the system.
该方法适合于机器人在以线段和圆弧为边界障碍物环境下运动的轨迹规划算法。
This method is a trajectory planning algorithm which is adapted to the robot under the circumstance where the line segment and the arc are boundary obstacles.
轨迹规划功能是将加工代码所描述的零件轮廓形状转换成刀具中心的运动轨迹。
Trace layout module is to convert the profiles of accessories into the motion routes of the tools center.
提出一种基于二次型性能指标的方法，用于规划平面冗余机械臂的自运动轨迹。
A method based on quadratic performance index is proposed to plan self-motion trajectories of planar redundant manipulators.
本文提出了基于各机械臂关节驱动力矩约束方程规划多臂系统运动轨迹的一种有效方法。
In this paper, an efficient method of joint trajectory planning for multi-arm robots capturing a common object is developed, having considered the dynamic constraint of the system.
在对KLD- 600机器人的正逆运动学分析的基础上，采用关节空间法分析了轨迹规划，建立了控制程序基础模型。
Based on analysis positive and reversal motion of KLD-600 robot, planning of trajectory is analyzed in detail by the method of joint space and the basic model of the control program is created.
自由空间的轨迹规划和运动控制。
单片机做为位置伺服控制完成PID控制算法，由计算机协调各关节的运动，准确地跟踪轨迹规划，使速度达到完全可控，机器人协调工作。
Main computer harmonizes the movement of every joint and traces path planning accurately. The system has accomplished the speed controllability and the coordinate work on Robot.
针对跟踪轨迹规划对于确保得到连续光滑的跟踪运动的重要性，提出了两级视觉跟踪轨迹规划方法。
For the importance of tracking trajectory planning to guarantee the continuous and smooth tracking motion, two stages visual tracking trajectory planning method is presented.
三是运动控制卡轨迹规划的实现。
本文主要针对高性能数字运动控制器中的轨迹规划，研究出最具运动平滑性的轨迹规划算法。
Therefore, this paper focuses on study of trajectory planning for high-performance digital motion controller, and gets the smoothest trajectory planning algorithm.
对运动物体进行光学跟踪及轨迹预测，在飞行器导航、机器人路径规划等方面一直是个研究热点。
The research of motion optical tracking and prediction is important for many fields, such as aerocraft navigation, robot path planning and so on.
宏微机器人轨迹规划离线进行，通过任务放大的方法分解宏微机器人运动学冗余。
Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment.
第一阶段在图像平面上规划运动轨迹，在图像平面上得到的离散规划点映射到机器人关节空间。
In the first stage, trajectory planning is performed on image plane. Planned discrete points on image plane are then mapped to robotic joint space.
分析拟人足球机器人前向行走基本步态，规划各关节的运动轨迹，并用ZMP判据判断动态步行稳定性，并给出仿真结果。
Analysis the basic gait of robot on the frontal plane. Plan every joint movement, and judge the stability of dynamic walking by ZMP principle. Present the result of simulation.
它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。
It provides a better solution to the problem of industrial robot's time optimal trajectory planning and control under the nonlinear kinematical constraints.
根据焊接机器人加工过程中所要完成的轨迹及避障任务，进行了机器人沿一定轨迹运动的无碰撞轨迹规划。
Based on the track and barrier-void task of a welding robot in the period of machining, we present a program for non-collision track of robot movement.
本文在参考大量的文献资料的基础上，结合项目的要求，主要研究了机器人方案确定、所确定机器人方案的运动学分析和基于示教的轨迹规划。
Based on lots of literatures and combined with the actual project requirements, the paper focuses on a robot scheme establishment, kinematics analysis and trajectory planning based on robot teach.
复合材料铺丝束成型技术中铺丝轨迹的规划，主要解决铺丝头在芯模表面运动时的路径问题。
Purpose of trajectory planning of Automatic Fiber Placement of composite materials is for getting the trajectory of the head on model surface.
复合材料铺丝束成型技术中铺丝轨迹的规划，主要解决铺丝头在芯模表面运动时的路径问题。
Purpose of trajectory planning of Automatic Fiber Placement of composite materials is for getting the trajectory of the head on model surface.
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