对柔性机器人的动力奇异问题进行了研究。
The dynamic singularity of the flexible manipulators is studied.
建立了悬索柔性机器人系统的逆运动学模型 ；
The authors build the inverse kinematics model of the flexible macro manipulator system.
提出一种计算柔性机器人铰上主动控制力的程序化方法。
A systematic algorithm for solving control forces act on joints of flexible manipulators is presented.
柔性机器人及机构动力学是机械动力学研究领域的前沿课题。
The dynamics of flexible robot manipulators and mechanisms is an advanced topic in the research domain of machinery dynamics.
柔性机器人的末端运动规划是机器人领域的重要前沿课题之一。
Motion planning of flexible robot manipulators is an advanced topic in the field of robotics.
提出了评价柔性机器人系统性能的变形度指标和变形能量度指标。
The magnitudes of elastic deformation and elastic deformation energy can reflect the stability and vibrations of the flexible robot systems.
摘要提出了一种用于柔性机器人操作臂控制的模糊自适应控制策略。
A fuzzy adaptive control method is proposed for a flexible robot manipulator.
首先，研究以减小末端误差为目标的冗余度柔性机器人运动规划问题。
Firstly, the motion programming of robot is presented to reduce the motion error of endpoint.
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.
实验结果表明：光纤激光器配合高柔性机器人，可以实现白车身三维空间内的高质量焊接；
The experiments results show that fiber laser based on highly flexible robot can easily obtain high-quality laser welding of body-in-white in 3-D space.
优化结果表明，在规划机器人的运动时，初始位形的优劣对柔性机器人的动力学性能有很大影响。
The optimal results show the significant influence of initial configuration on dynamics of redundant flexible link and joint robot manipulators.
冗余度柔性机器人协调操作系统集合了冗余度机器人、柔性机器人和协调操作机器人的优点，具有广泛的应用前景。
Redundant flexible cooperative robots have the advantages of redundant robot, flexible robot and cooperative robot and possess vast application prospect.
本文在刚性机器人精度分析的基础上，结合柔性机器人的研究成果，对机器人位姿误差的分析与综合作了较为系统的研究。
The analysis and synthesis of pose error of robots on the basis of accuracy analysis of rigid robots combining with achievements in research of flexible robots have been studied systematically.
通过分析，说明柔性机器人的变形能能很好地反映机器人整体弹性变形情况，因此规划变形能对减小机器人弹性误差有着积极作用。
Secondly, based on the analysis of strain energy of flexible robot, the motion planning method to minimize strain energy of flexible robot is proposed.
本文深入研究了多冗余度柔性机器人运动过程中的规划问题。由于多冗余度机器人存在较大的冗余空间，因此更有利于获得最优解。
However, the robot manipulators with multi-degree of redundancy have larger redundant space and the optimal solution can be obtained more efficiently.
这家公司已经把柔性自动化机器人集成到剪切操作上，这样做是有充分理由的。
The company has integrated flexible automation into its shearing operation-and for good reason.
应用最优控制理论，对柔性冗余度机器人振动控制问题的原理与策略进行了研究。
The theory and strategy of vibration control for flexible redundant manipulators are studied by the optimal control theory.
对改善柔性冗余度机器人的频率特性进行了研究。
A method for improving the frequency property of flexible redundant manipulator is studied.
为研究柔性关节机器人运动状态下的振动特性，提出一种机构振动环境预测新方法。
A new approach of vibration environmental prediction on mechanism is presented to study the vibration characteristics of moving flexible joint robot.
在此基础上，通过对柔性冗余度机器人的关节运动进行研究，提出了通过自运动的适当选取从而抑制机器人柔性振动的方法。
On this basis, by studying a flexible redundant manipulator's joints motion, a method is presented for suppressing vibration of a flexible redundant manipulator by correctly choosing its self-motions.
研究了柔性冗余度机器人振动控制问题。
It researches the vibration control problem about flexible redundant robot.
本文将冗余自由度用于消减柔性杆机器人的残余振动，通过优化选择最优的自身运动以达到减振目的，模拟结果表明，这一方法可以取得很好的效果。
In the paper, the redundancy is used to decrease residual vibration of flexible link robot through optimal self motion, and the method is proved to be efficient by computer simulation.
研制了基于球齿轮传动的机器人柔性手腕机构。
We develop the flexible wrist of robot based on spherical gear's drive.
利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。
Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.
基于奇异摄动方法和两时标分解，柔性连杆机器人的模型分解成两个子系统：慢子系统和快子系统。
Based on the singular perturbation method and two time -scale decomposition, the flexible - link robot model is decomposed into two subsystems: the slow subsystem and the fast subsystem.
介绍了根据齿轮齿条直线倍程机构原理设计的机器人柔性抛光机床的轮径检测机构。
This thesis introduces the design of impeller diameter measuring mechanism in robot flexible polishing machine tool on the basis of rack-and-pinion linear diploid mechanism theory.
微机器人的传动支链采用柔性铰链微位移放大机构，并用细钢丝代替球铰链。
The transmission branch chain of micro-robot adopts flexible hinged minute-displacement enlarging mechanism and USES thin steel wires instead of global hinges.
机器人码垛机的柔性、处理能力、可靠性正在不断升级，应用场合在迅速扩大。
The flexible, capacity and reliability of the robot palletizer are promoting continuously and its application scope is expanding rapidly at the same time.
对柔性冗余度机器人关节运动的冗余特征进行了研究。
Then the redundant characteristics of a flexible redundant manipulator's joints motion were studied.
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.
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