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.
进行了冗余度机器人动态最优化控制的研究。
The motion control for redundant robot is still the focal point for the researchers.
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.
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.
本文提出了一种具有球形腕的冗余度机器人逆运动学实时解的新方法。
A new method is presented for real -time inverse kinematics of redundant manipulators with spherical wrist.
本文介绍了STD总线构成的冗余度机器人实时控制系统的软硬件设计情况。
The design of real-time control system for Redundant Robot with STD BUS is described in this paper.
基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。
Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.
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.
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.
本文针对考虑关节弹性的两冗余度机器人协调操作中的关节轨迹规划问题进行了研究。
In this article, the problem of joint trajectory planning in the coordinated manipulation of redundant robots with joint elasticity is researched.
本文针对考虑关节弹性的两冗余度机器人协调操作中的关节轨迹规划问题进行了研究。
The hand path tracking and joint trajectory planning is a very important research topic in the field of robot applications.
把主动控制思想应用于机器人振动控制中，提出了控制柔性冗余度机器人振动的一种方法。
The idea of active control is used to suppress vibration, and a method for suppressing vibration of flexible redundant manipulators is proposed.
冗余度机器人，从运动学的观点来说就是指完成某一特定任务时，机器人具有多余的自由度。
A redundant robot has more degrees of freedom than what is needed to a unique task.
在总结多种超冗余度机器人关节构型的优缺点基础上，提出了一种电机驱动的二自由度新型关节。
By analyzing the merits and shortcomings of a number of former joint configurations, a new kind of motor driven joint with two degree of freedom is presented.
建立了机器人D -H坐标，给出杆长参数后，推导出了4r冗余度机器人运动学反解的解析解。
Based on the D-H coordinates, the links 'parameters are given and the kinematical analytical resolution for 4r redundant robot is got.
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.
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.
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.
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.
建立了冗余度机械臂协调操作的数学模型，利用该模型对两机器人抓持同一刚性物体进行了仿真研究。
The kinematical model for coordinating manipulators is constructed and research is done through simulation examples for two coordinating manipulators holding one object.
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.
针对空间机器人系统，研究了欠驱动冗余度机械臂的“非完整冗余”特征和无碰撞路径最优运动规划方法。
Nonholonomic redundancy and a collision free motion planning method for under-actuated redundant manipulator were studied in this paper aiming at the Space-Robot-Systems.
对一个超冗余度移动操作臂机器人系统的设计和实现作了介绍，这个系统由一个8自由度的模块机器人和一个1自由度的电机驱动的导轨组成；
The design and implementation of a hyper-redundant mobile manipulator system are described, which is composed of an 8 DOF module robot and a 1 DOF motorized rail.
基于速度欧拉范数值最小，提出了冗余度tt- VGT机器人轨迹规划的一种方法。
A method for trajectory planning of redundant TT VGT manipulators is presented by minimizing the Eulerian norm of joint velocities.
在合作的双臂机器人之间实现避碰是成功地应用冗余度双臂机器人的关键。
Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators.
在合作的双臂机器人之间实现避碰是成功地应用冗余度双臂机器人的关键。
Collision avoidance between two cooperative manipulators is vital to the successful applications of dual redundant manipulators.
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