文章主要针对水轮机修复专用机器人动力学问题。
This paper mainly focused on the dynamics problem of special robot for hydraulic turbine repair.
本文的工作对机器人动力学研究具有较大的实用价值。
The job done in this paper presents a considerable value in practical use.
基于旋转黏度计工作原理，建立内窥镜机器人动力学性能实验台。
Based on the operating principle of rotary viscometer, the dynamical performance experiment rig of spiral micro robot was fabricated.
该程序已在飞行器动力学、机器人动力学等方面取得了较好的应用。
The program in the paper has been in better application to flying vehicle dynamics and robot dynamics...
本方法解算简便，经略微修改可适用于一般关节型机器人动力学模型。
Besides, we present the procedure for obtaining dynamic equations of general robot by using kane's dynamic eqatio…
本方法解算简便，经略微修改可适用于一般关节型机器人动力学模型。
Besides, we present the procedure for obtaining dynamic equations of general robot by using kane's dynamic eqations.
本方法解算简便，经略微修改可适用于一般关节型机器人动力学模型。
Besides, we present the procedure for obtaining dynamic equations of general robot by using Kane's dynamic...
本方法解算简便，经略微修改可适用于一般关节型机器人动力学模型。
Besides, we present the procedure for obtaining dynamic equations of general robot by using kan...
这里提出了一种基于虚拟设计技术的空间冗余度机器人动力学优化分析新方法。
Anew method about dynamic optimization based virtual design technology for spatial redundant robot is proposed.
在对机器人进行运动学分析的基础上，利用牛顿欧拉法建立机器人动力学方程。
We set up robot dynamic equations using Newton Euler method on the basis of kinematics analysis of robot.
摘要：机器人动力学是对机器人机构的力和运动之间关系与平衡进行研究的学科。
Abstract: for the robot dynamics is to study the relation between the force and movement and balance of the subject.
柔性机器人动力学是当前机器人研究的热点，而其协调操作问题目前仍为空白。
The flexible manipulator dynamics is a topic of general interest in robotics, but the study on its cooperation is still in vacuum at present.
在机器人动力学方程存在误差的情况下，能通过文中提出的参数调整规则补偿误差。
Though there are errors during the modeling for the robot dynamics, they can be compensated according to the rule of adjusting weight values.
提出了空间柔性转子梁单元模型，建立了考虑关节及杆柔性的空间机器人动力学方程。
The model of a spatial flexible rotor beam element is presented, and the dynamic equations of spatial manipulators considering joint and link flexibility is derived.
其次，考虑到机器人系统的耦合、非线性等问题，建立准确的五自由度机器人动力学模型；
Then, the precise five-freedom dynamic model including the robotic system problems such as coupling, nonlinear and so on was established.
利用两足步行椅机器人动力学模型，分析了各关节的驱动力矩，以此确定了驱动电机的功率。
A dynamics model of the robot is used to analyse the driving torque of each joint, and the driving power of motors are decided based on the analysis results.
机器人动力学是复杂的动力学系统，对处理物体的动态响应取决于机器人动力学模型和控制算法。
Robot dynamics is a complex dynamic system, on the dynamic response of the processing object depending on the robot dynamics model and control algorithm.
本文提出一种新的自适应控制算法，用于补偿机器人动力学方程中的非线性项和消除关节间的耦合。
A new adaptive control algorithm is proposed in this paper to compensate nonlinear terms in the dynamic equation of robot and decouple the dynamic interaction among the joints.
本文在文献的基础上，对自行推导的基于凯恩方程的机器人动力学递推算法作了进一步改进和完善。
In this paper, the further work and improvement about a new dynamics algorithm of robots-kane's equations algorithm of robots is presented based on the paper's authors previous work.
研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控制器的设计问题。
Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated.
针对机器人动力学模型的不确定性和负载扰动，提出了一种采用神经网络的机器人迭代学习控制方法。
Aiming at dynamic model uncertainties and load disturbances of robot manipulators, an iterative learning control scheme using neural networks is presented.
关于机器人动力学的应用程序，主要的突破是当计算机辅助方法用于开发动态建模时（参见第20章）。
Regarding the application of robot dynamics, the main break-through was made when computer-aided methods for dynamic modeling were developed (see Chapter 20).
然后利用旋量理论推导了水轮机修复机器人六自由度手臂的动力学方程，并对此专用机器人动力学进行分析。
Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repair robot with six degree of freedom, and carry on theory analysis to the robot.
机器人动力学主要研究动力学正问题和动力学逆问题两个方面，需要采用严密的系统方法来分析机器人动力学特性。
Kinetics of robot research dynamics problem and inverse problem of two aspects, the need to adopt strict system method for the analysis of robot dynamics.
本文从一般动力学标定和基于神经网络的动力学标定两方面对现有机器人动力学标定方法和研究现状进行了分析和总结。
An overview of the robot dynamic calibration methods and research status was presented from two aspects: general dynamic calibration and dynamic calibration based on neural networks.
对机器人动力学和运动学关系式进行线性参数化，分别对动力学待估参数和运动学待估参数设计在线修正律，在关节空间采用自适应控制。
Kinematics and dynamics can be linearized by a set of combined parameters, the update law of the parameters is designed respectively. Adaptive control is adopted in joint space.
鉴于并联机器人的动力学计算复杂，不利于实时控制等特性，本文首先在不考虑并联机器人动力学的情况下，研究了并联机器人的控制器设计。
Because the parallel robot is hard to real-time control in terms of the complication of its dynamics, controller without considering parallel robot's dynamics is studied firstly.
因此本文根据机器人动力学模型的性质设计了一种利用机器人工作空间理想轨迹控制的自适应前馈控制方法，并对自适应控制下系统的稳定性进行了分析。
So an adaptive feed forward control method is proposed, this method basing on robot dynamics adopts ideal trajectory on workspace to control robot, its stability is analyzed.
因此本文根据机器人动力学模型的性质设计了一种利用机器人工作空间理想轨迹控制的自适应前馈控制方法，并对自适应控制下系统的稳定性进行了分析。
So an adaptive feed forward control method is proposed, this method basing on robot dynamics adopts ideal trajectory on workspace to control robot, its stability is analyzed.
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