本文详细论述了电驱动的自主式水下机械手关节速度伺服控制系统的原理及研制。
The constitution\, function\, principle and design of a new speed servocontrol system of placing radiation manipulator joint have been discussed in detail.
介绍一种机械手关节运动的PC机控制方法，它包括步进电机的驱动、硬件接口电路的设计、软件的编程方法。
This paper introduces PC control approach of joint motion of manipulator. This approach includes driving of stepping motor, interface design of hardware circuit and software programming.
控制器通过PCI总线与上位机通信，采用DSP和CPLD完成了运动控制功能，实现了机械手关节运动的伺服控制。
The communication with the upper computer was realized through PCI bus, DSP and CPLD was used to achieve motion control of manipulator's joints.
其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；
Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
提出了一种新的推导回转关节型多自由度气动机械手逆运动学方程的方法，进而给出逆运动问题新的求解方法。
A new inferential method for inverse kinematics equation of revolute joint pneumatic manipulators was presented, and efficient solution of inverse kinematics problem was also given.
多关节凿岩机械手在工作时，完成的是一个在一定工作面上随机的钻孔孔序任务，其孔序规划相当复杂。
The bore sequence of every working face is random to the multi joint rock drilling manipulator, so the bore task planning is very complicated.
并能同时控制机械手抓取过程中关节力矩偏差和角速度关系。
The relations between joint torque deviation and angular velocity of manipulator are controlled.
运用正交试验设计原理验证了用冗余度法所确定的最优关节对机械手姿态影响的显著性。
This paper uses the intersection experiment design principle to verify outstanding performance of the optimal joints, determined by redundancy method, for the manipulator posture.
为减少机械手抓取软物体造成的损害，提出基于关节力矩预测的力矩外环在线抓取控制方案。
To decrease the damage of grasping soft objects, an online joint torque predictive grasping control scheme is proposed based on external torque control loops.
利用扩展卡尔曼滤波算法估计机械手各关节的初始角位置，从而间接地保证机械手在工作空间内的绝对定位精度。
The initial angular positions of the joints are estimated by the extended Kalman filter algorithm, then the manipulator's absolute locating accuracy in its workspace is guaranteed indirectly.
在此基础上，对物料抓取机械手运动学和动力学进行了分析和设计，得出了关节变量和操作空间在位置、速度以及加速度之间的对应关系。
On the basis of this design, the kinematics is analyzed and the relationship between arthrosis parameters and manipulator space in position, speed and acceleration is given.
本文探讨了研制开发液压驱动柔性关节，并构成机械手的设想及可行性。
This paper discusses the development of hydraulically actuated flexible knuckles and the concept and feasibility in composing robots with them.
本文提出了机械手在关节坐标系中的引入积分作用的线性扰动自适应控制和引入重力补偿的模型跟随自适应控制方案。
This paper proposes a linear perturbation adaptive control scheme with integrators and a model following control scheme with gravity compensation for robot manipulators.
并就机械手伺服控制系统的速度调节、位置检测与反馈、各关节动作的协调等方面的设计作了说明。
Meanwhile, the speed regulation, position detection and feedback, movement coordination of each joint in the servo control system of this manipulator are described in the article.
对宏微机器人的控制在关节空间进行，通过微机械手的快速运动对宏机械手的轨迹误差在线补偿。
Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space.
本文提出了从机械手末端位置及姿势求出各关节转角的坐标逆变换超高速算法。
In this paper, a super-high-speed algorithm of coordinate inversion is outlined, which draws each joint rotative Angle from the end-position and posture of manipulator.
本文主要阐述了六自由度机械手本体的总体构成及其具体的结构设计，并对机械手单关节位置伺服系统进行了研究。
This paper introduced the constitution and specific design of robot with six DOF and researched the position control system of single joint of robot.
因而研究将球齿轮机构用于柔性多关节机械手很有必要。
As a result, it is necessary to research how spherical gear mechanism be utilized with flexible multi-link manipulator.
再根据机械手末端执行器的运动情况完成了相应关节力矩的计算，以使它们能以期望的加速度和速度运动，保证良好的位置精度。
At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator in order to guarantee the better position precision and expected speed and acceleration.
再根据机械手末端执行器的运动情况完成了相应关节力矩的计算，以使它们能以期望的加速度和速度运动，保证良好的位置精度。
At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator in order to guarantee the better position precision and expected speed and acceleration.
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