针对双臂机器人搬运工件的协调运动，研究载荷分配的优化方法。
The optimal load distribution was researched for coordinate motion of dual-arm robot handling object.
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.
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.
在本算法中，双臂机器人无碰撞运动规划问题被归结为对从臂无碰撞状态数据库的搜索。
The dual arm robot collision free motion planning is regarded as searching a set of data in the CSDB. With this method, an optimum trajectory would be found.
用微分几何理论和D-H法研究了2R-1P3R 双臂机器人用于异形石材加工的速度协调和加速度协调，导出了由工艺给定的切削加工速度求解各关节运动速度和加速度的计算公式。
In this paper, velocity harmonization and acceleration harmonization of a 2R-1P3R two-arm robot have been studied for special-shaped surface stone with the differential geometry theory and D-H method.
在第五章和第六章中，对双臂空间机器人系统在惯性坐标系内进行轨迹跟踪控制问题进行研究。
In the fifth and sixth chapter, trajectory tracking control in inertia space of the dual-arm space robot system is studied.
在本文的第二章，我们利用第二类拉格朗日方程推导了自由漂浮平面双臂空间机器人系统的动力学方程。
In the second chapter, the dynamics of free-floating space robot system with dual-arm is established by use of the Lagrange's equation.
阐述了双臂自由飞行空间机器人闭链式协调操作运动控制实验平台的建立方法。
A method of setting up a experimental platform of loop coordinated manipulation and motion control for double-arms free flying space robots was presented.
讨论了载体姿态及位置均不受控制的自由漂浮双臂空间机器人系统的轨迹控制问题。
The paper studies the nonlinear feedback control problem of free-floating dual-arm space robot systems.
依据系统动量守恒关系和拉格朗日第二类方程，推导了漂浮基双臂空间机器人系统的动力学方程。
According to the momentum conservation law, the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.
讨论了本体姿态受控、位置不受控的情况下，漂浮基双臂空间机器人系统协调运动的动力学控制问题。
The dynamic control problem for coordinated motion of a free-floating dual-arm space robot system was discussed.
讨论了自由漂浮双臂空间机器人关节运动的控制问题。
The control problem of joint motion of a free-floating space robot with dual-arms was discussed.
讨论了自由漂浮双臂空间机器人系统关节轨迹跟踪的控制问题。
The control problem of coordinated motion of free-floating space robot with external disturbance was discussed.
讨论了自由漂浮双臂空间机器人系统关节轨迹跟踪的控制问题。
The control problem for free-floating space robot system with dual-arms to track the desired trajectory in joint space was discussed.
利用拉格朗日方法并结合系统动量守恒关系，分析、建立了漂浮基双臂空间机器人完全能控形式的系统动力学方程。
Combining the relationship of the linear momentum conversation and the Lagrange approach, the full-controlled dynamic equation of space-based robot system with dual-arms were analysed and established.
利用拉格朗日方法并结合系统动量守恒关系，分析、建立了漂浮基双臂空间机器人完全能控形式的系统动力学方程。
Combining the relationship of the linear momentum conversation and the Lagrange approach, the full-controlled dynamic equation of space-based robot system with dual-arms were analysed and established.
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