第六章针对机器人关节系统的特点。
In chapter 8, the variable structure control system of robot joint is studied.
从而求得机器人关节空间中各关节的运动轨迹。
Then get robotic joint every sport orbit of joint of the space.
提出了V01弧焊机器人关节减速比的测量方法。
In this paper, the method measuring joint reduction ratio of V01 arc welding robot is presented.
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.
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.
机器人关节通常采用二连杆单轴关节，仿生特性不强。
The joint of robot usually adopts two linked single axle joint that has a non-powerful bionic characteristics.
设计并制作了基于TDC技术的机器人关节力矩传感器。
Based on the TDC technology, a torque sensor for a robot joint is designed and fabricated.
用矩阵变换来实现从世界坐标系的运动到机器人关节坐标系运动的映照。
A transformation was used to map the motion in world frame to robot joint frame.
由交流伺服系统直接驱动的机器人关节一体化设计已成为一个重要研究方向。
One important research aspect has come into being which is robot integral joint design driven directly by AC servo system.
由交流伺服系统直接驱动的机器人关节一体化设计已成为一个重要研究方向。
One important research aspect has come into being which is robot integral joint design driven directly by AC servo system. The paper specifie…
本发明涉及机器人研究和工程领域，具体是一种水陆两栖蛇形机器人关节模块。
The invention relates to the field of robot research and engineering, in particular to a joint module for an amphibious snake-like robot.
介绍了一种用于机器人关节上的新型力矩传感器，分析了力矩传感器的工作原理。
The paper introduces a new type torque sensor used in robots joint and analyzes its working principle.
着重讨论了接口电路的原理和设计，也介绍了机器人关节的工作原理和控制程序设计。
The design and principle of interface circuit are discussed in detail. The design of control program and the principle of the robot operation are also described.
本文提出一种新的模型参考自适应模糊控制器，并应用于步行机器人关节速度伺服控制。
This paper presents a new adaptive fuzzy control scheme and its application to speed servo control for a quadruped robot.
第一阶段在图像平面上规划运动轨迹，在图像平面上得到的离散规划点映射到机器人关节空间。
In the first stage, trajectory planning is performed on image plane. Planned discrete points on image plane are then mapped to robotic joint space.
在此基础上利用拉格朗日乘子法，提出了一种在满足抑振的同时进行机器人关节力矩优化的方法。
On the basis of above, a method for both suppressing vibration and optimizing joint-torques is proposed by using Lagrangian multiplier method.
对关节间隙变量采用二维矢量表示法，分析了机器人关节间隙对机器人末端位置重复精度的影响。
The effects of the joint clearance variables to the position repeatability of the robot end effector are analyzed using a two-dimensional vector method to define the joint clearance variables.
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.
采用微处理器、专用的运动控制和驱动芯片以及光电编码器实现了机器人关节的伺服闭环运动控制；
Microprocessor, dedicated motion controller and driver, optical electronic encoder were used to realize servo closed-loop motion control.
机器人关节发生故障后将故障关节锁定是一种简单可靠的容错方式，它已经得到越来越多的关注和研究。
Locking failure joint after the robot's joint fails, a simple and reliable way, is increasingly paid more attention to by scholars.
它采用了微处理器、专用的运动控制和驱动芯片以及光电编码器，实现了机器人关节的伺服闭环运动控制。
The microprocessor, dedicated motion controlling and driving chip, optical encoder are adopted to realize the joints 'closed-loop servo motion control.
我需要的东西非常小，但强大-与大量的输入和输出线，这是能够精确地控制电机的机器人关节的东西，“他说。”
"I needed something very small, but powerful — something with a lot of input and output lines that was able to precisely control motors for the robot's joints," he says.
本文给出了自动建立机器人关节座标架原则，DH参数正负号确定原则，描述了关节座标架建立流程及DH参数求解方法。
This paper gives a general method of creating kinematic model of robots, which includes building joint links by DH rule, setting up joint coordinate frames and finding DH parameters.
针对一个教学型多关节机器人的机械特点，不用一般的齐次转换的方法而是用简单的笛卡儿几何的方法解决了其运动学逆问题。
Aiming at the mechanism character of a multi axes robot the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.
提出了一种集机械和控制为一体的机器人模块化关节的设计方案。
This paper presents a method for modular robot joints that integrate mechanical part and control system.
如果被关闭或损坏到相当大的程度，一个战斗机器人会解除连接关节的电磁体。
If deactivated, or damaged to considerable degree, a battle droid deactivates the electromagnets holding its joints together.
中国市场上最流行的模型是多关节机器人，国产品牌的销量增长比获得了更大的市场份额。
The most popular models on the Chinese market are multi-joint robots, with a growing percentage of domestic brands winning larger shares of the market.
中国市场上最流行的模型是多关节机器人，国产品牌的销量增长比获得了更大的市场份额。
The most popular models on the Chinese market are multi-joint robots, with a growing percentage of domestic brands winning larger shares of the market.
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