本文对冗余机器人的运动学路径规划进行了研究。
In this thesis, some issues on path planning of kinematical redundant robots are studied.
研究表明运动学规划在冗余机器人研究领域起到了非常重要的作用方向。
It shows that the kinematical planning play a very important role in the research field of redundant robots.
针对空间冗余机器人运动学控制中正、逆运动学求解的复杂性，采用神经网络从两方面解决这一问题。
Neural network is used in this paper to solve the problem of kinematics and inverse kinematics in kinematical control of spatial redundant robots.
由于机构的结构复杂，对并联机器人进行位置分析，尤其是并联冗余机器人，要比串联机器人复杂得多。
Because of complex mechanism, displacement analysis of parallel robot, especially on parallel redundant robot, is much more complex than that of serial 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.
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.
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.
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.
在自由度冗余的机器人末端连杆上安装激光位移传感器可实现灵活的非接触测量。
A robot can be used for noncontact measurements when a laser displacement sensor is fixed to its end-link.
提出运动映射的方法简化多足机器人冗余自由度的控制，模仿动物肢体运动规律建立膝髋关节映射函数；
Proposing the method of motion-mapping to simplify the control of redundant freedoms for multi-legged robot, and building the mapping function between knee and hip by imitating animal's motion.
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.
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.
从手术方案角度分析了骨科机器人系统对手术安全的影响，提出了基于功能冗余的骨科机器人安全策略。
The scheme-based safety analysis and its influence for orthopaedic robot systems in clinical surgery are discussed and some functional redundancy-based safety strategies for the robots are proposed.
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.
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.
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.
对几种主要的机器人运动学冗余分解方法进行了总结，指出了每种方法的优点及存在的问题；
This paper discusses some kinematic redundancy resolution strategy of robotic manipulators, their advantages and disadvantages are listed.
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.
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.
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.
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.
基于最新人臂仿生理论和并联机器人研究的成果，提出一种线驱动7 -DOF冗余手臂的设计方案。
Based on the current research results of humanoid - arm bionics and parallel manipulators, an approach is presented for 7-dof cable-driven humanoid-arm manipulator.
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.
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.
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.
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.
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