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.
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.
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.
把主动控制思想应用于机器人振动控制中，提出了控制柔性冗余度机器人振动的一种方法。
The idea of active control is used to suppress vibration, and a method for suppressing vibration of flexible redundant manipulators is proposed.
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.
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.
本文深入研究了多冗余度柔性机器人运动过程中的规划问题。由于多冗余度机器人存在较大的冗余空间，因此更有利于获得最优解。
However, the robot manipulators with multi-degree of redundancy have larger redundant space and the optimal solution can be obtained more efficiently.
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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