研究了具有不确定参数的机器人轨迹跟踪控制问题。
This paper is devoted to the trajectory tracking control problem of a robot manipulator with disturbances and uncertain parameters.
提出一种模糊神经网络控制器并用于机器人轨迹跟踪控制。
A fuzzy neural network is proposed for robot tracking control.
提出一种模糊神经网络控制器并用于机器人轨迹跟踪控制。
A fuzzy neural network was proposed for robotic tracking control.
论文将讨论具有控制输入幅值限制的机器人轨迹跟踪控制问题。
Tracking control problems for robots with control input amplitude limitation are investigated.
准确的动力学模型在先进的机器人轨迹跟踪控制中扮演了一个非常重要的角色。
Accurate dynamics model of industrial robot plays a very important role in advanced trajectory tracking control applications.
基于再生核理论给出了对轮动式移动机器人轨迹跟踪控制问题的一种新的解决方法。
A new method for trajectory tracking of wheeled mobile robots is presented based on the theory of reproducing kernel.
采用动态对角回归神经网络作为辨识器和控制器，实现了机器人轨迹跟踪的最小误差控制。
Using dynamic recurrent neural networks as identification and controller, the minimum error control of robot tracking the idea locus is implemented.
提出了一种包含运动学控制器和速度控制器的分层控制方案来解决机器人轨迹跟踪控制中的复杂计算问题。
A hierarchical control strategy which includes kinematical controller and velocity controller is presented to solve the problem of complex calculation in robot trajectory tracking control.
并通过平面3自由度机器人轨迹跟踪和8d -WMM执行窗口作业的仿真实例，验证了算法的可行性。
Through the trajectory tracking of a planar 3-dof robot and the simulation examples of 8d-wmm implementation window, the algorithm feasibility is validated.
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.
研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控制器的设计问题。
Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated.
机器人通过奇异位形时的可行运动求解及如何准确地跟踪和实现给定的运动轨迹是机器人技术中急待解决的关键技术问题。
Resolution of the feasible motions of manipulators at singular configurations and accurately tracking the specified trajectory is one of the important technical problems in robotics.
提出了一类基于非线性滑动模的鲁棒自适应分散控制策略，用于不确定性机器人的轨迹跟踪。
This paper proposed a new class of robust adaptive decentralized control strategies based on nonlinear sliding mode for trajectory tracking of robot manipulators with uncertainties.
研究了轮式移动机器人的轨迹跟踪控制问题。
In this paper, the problem of trajectory tracking control of wheeled mobile robot is addressed.
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.
首先，分析一类两轮移动机器人的运动学模型和动力学模型，针对其轨迹跟踪控制问题，设计滑模控制器。
Firstly, a kind of kinematics model of two-wheel driven mobile robot is analyzed. Aimed at its trajectory tracking control problem, the sliding-mode controller is designed.
本文主要针对非完整移动机器人进行运动学和动力学建模、分析与轨迹跟踪控制器设计的研究。
Analysis, kinematic and dynamical modeling and trajectory tracking controller designing for a mobile robot are studied in this thesis.
机械手的轨迹跟踪是机器人控制系统中的一个难点。
The manipulator track is the difficulty in the robot control.
利用神经网络实现模糊推理，运用了一种模糊高斯基函数神经网络，并用于两关节机器人的轨迹跟踪控制。
The fuzzy inference is realized by neural network, a fuzzy Gauss function neural network is used for two-joint robot tracking control.
对智能弧焊机器人的实时轨迹跟踪问题，提出了一种新的运动学建模：焊缝切线法。
This paper presents a new kinematics modeling of the intelligent arc welding in the real time trajectory tracking.
针对非完整移动机器人的轨迹跟踪控制问题，提出了一种鲁棒项系数自调整的神经网络滑模自适应控制策略。
An adaptive neural sliding mode control strategy with the self-tuning of robust item coefficients is proposed for the trajectory tracking of non-holonomic wheeled mobile robots.
在数控机床，机器人等一类应用的轨迹跟踪问题中，未来目标轨迹信息对提高跟踪精度具有十分重要的意义。
Previewing trajectory of object is significant to improve the tracking accuracy especially in the fields of numerical control of machine tools and robots.
对运动物体进行光学跟踪及轨迹预测，在飞行器导航、机器人路径规划等方面一直是个研究热点。
The research of motion optical tracking and prediction is important for many fields, such as aerocraft navigation, robot path planning and so on.
单片机做为位置伺服控制完成PID控制算法，由计算机协调各关节的运动，准确地跟踪轨迹规划，使速度达到完全可控，机器人协调工作。
Main computer harmonizes the movement of every joint and traces path planning accurately. The system has accomplished the speed controllability and the coordinate work on Robot.
该系统具有对摄像机视场中特征点自动定位和跟踪功能。 结合工业机器人控制软件，该系统使工业机器人能实时地调整运动轨迹，提高其适应性和灵活性。
With the function of auto-orientation, following track and control ware, the Robot can adjust its locus on time and can improve adaptive and cleverness in itself.
所提出的FCMAC被应用于机器人的轨迹跟踪控制系统以克服机器人系统中非线性和不确定性因素的影响。
The proposed FCMAC is applied on robotic tracking control system to counteract the disadvantageous influences of nonlinearities and uncertainties in robotic system.
得到了除冰机器人的速度和加速度计算方程，方便了除冰机器人的轨迹跟踪控制。
This is convenient to obtain the velocity and acceleration of robot and robot trajectory tracking control.
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.
因此，同时考虑机器人运动学和动力学模型，提出基于神经网络的轨迹跟踪算法，仿真结果表明算法具有较强的鲁棒性。
So, we design a trajectory tracking algorithm based on NNs, considering both kinematic and dynamical model, and the simulation results demonstrate that this algorithm has good robustness.
因此，同时考虑机器人运动学和动力学模型，提出基于神经网络的轨迹跟踪算法，仿真结果表明算法具有较强的鲁棒性。
So, we design a trajectory tracking algorithm based on NNs, considering both kinematic and dynamical model, and the simulation results demonstrate that this algorithm has good robustness.
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