欠驱动技术在航天领域有重要应用价值。
The under-actuated is an important technique of fault tolerance control technology for space engineering.
最后给出了一些欠驱动机构的应用实例。
Finally, some applications of the under-actuated mechanism is shown.
文末以欠驱动机器臂的控制为例，介绍其具体应用。
With the control of underdrived robot arm as an example the concrete application is introduced.
最后，设计了一个利用气压回路驱动的欠驱动机械手。
Finally, the design of an under-actuated manipulator which is driven by pneumatic circuit has been finished.
该文设计了变抓取力的欠驱动拟人机器人手TH-1。
This paper introduces the mechanical characteristics of an underactuated humanoid robot hand (TH1 hand) with changeable grasping force.
并在此基础上对欠驱动机器人的概念提出了修正意见。
And the concept of the under-actuated robot has been amended based on these studies.
引入动态伺服理论研究了欠驱动双摆机器人的仿生悬摆运动控制。
With dynamical servo control theory introduced, life-like brachiation control of underactuated two-link robot is studied.
提出了欠驱动的过程是驱动力和运动副重新分配的过程这一观点。
A new viewpoint that the under-actuated process bases on the re-allocation of the driving forces and the motion pairs has been proposed.
在设计部分中则提出了一种利用并联气压回路驱动的欠驱动机械手。
In the design section an under-actuated manipulator which is driven by parallel pneumatic circuit are presented.
基于同样的理由，欠驱动系统的运动规划比一般机器人要困难得多。
According to same reason, the motion plan for an under-actuated system is much difficult.
VTOL空间飞行器是具有三个自由度，两个控制输入的欠驱动系统。
VTOL aircraft is an under-actuated system with three degrees of freedom and two control inputs.
欠驱动机构具有增加抓取稳定性、降低控制难度等优点得到广泛研究。
Considering its advantages of increasing the stability of grasping and reducing the difficulty of controlling, many studies on under-actuated mechanism have been carried out.
研究了在两固定端点之间运动的三连杆平面欠驱动机械臂的最优运动规划问题。
An optimal motion planning scheme for a three-link planar under-actuated manipulator moving between two stationary states was considered.
欠驱动机械臂系统是一种典型的二阶非完整约束动力学系统，属于非完全可控系统。
Underactuated manipulator system is a typical second-order nonholonomic dynamic systems and isn tan entirely controllable system.
对一台实际的欠驱动机器人实现了最优轨道生成，并进行了动作实验，取得了较好效果。
The effectiveness of the method is confirmed by an experiment with a real under actuated robot.
在控制系统领域，由于欠驱动机构的非线性特点使对其分析和求解的过程变得较为复杂。
In the field of control systems, due to the non-linear characteristic of the under-actuated system, the analysis and solution become more complicated.
单杠体操机器人是欠驱动非线性系统的一个典型例子，是一种具有非驱动关节的机器人。
The gymnastic robot on a horizontal bar is a typical model of underactuated nonlinear systems. One feature of this kind of robot is its underactauted joint.
以该欠驱动手指机构为基础，设计了一种高欠驱动的拟人机器人多指手——TH-2手。
A super under-actuated humanoid robot multi-fingered hand, TH-2 Hand, was designed based on the previous under-actuated finger mechanism.
机械系统的欠驱动特性是指系统控制输入向量空间的维数小于系统广义坐标向量空间维数的情况。
The underactuation of mechanical systems means that the dimension of the control vectors of systems is less than that of the configuration vector of systems.
本文针对空间捕获作业的设计要求，提出一种具有折展和抓取功能的欠驱动自适应式空间捕获装置。
To meet the design requirements of space capture, this study proposed an under-actuated self-adaptive capture device with the ability of unfolding and grasping.
与实现单个手指的多关节动力传递的传统欠驱动机构设计思想不同，提出了一种新型多指欠驱动机构。
Compared with the traditional under-actuated mechanism for single multi-joint finger, this paper proposed a novel multi-finger under-actuated mechanism.
旋转摆属于典型的欠驱动系统，通过驱动杆的水平转动可使欠驱动杆由垂直下摆位置转到竖直向上位置。
The rotating pendulum is a typical underactuated system with a rotating shaft of the motor attached to the end which is free to spin about an axis parallel to the axis of rotation of the pendulum.
针对空间机器人系统，研究了欠驱动冗余度机械臂的“非完整冗余”特征和无碰撞路径最优运动规划方法。
Nonholonomic redundancy and a collision free motion planning method for under-actuated redundant manipulator were studied in this paper aiming at the Space-Robot-Systems.
在此基础上提出两种欠驱动机械臂位置控制的谐波函数控制方法，通过仿真验证了这种控制方法的有效性。
Based on the dynamic analyzing two kinds of harmonic input control methods are suggested. The simulation results on the 3-dof under actuated manipulator verify that the methods suggested are valid.
对融合了视觉、滑觉、角位移等多种传感器的欠驱动空间机械手爪，研究其对不同形状、质地的物体实现自适应抓取控制。
An under actuated space manipulator control system is proposed to study the manipulator adaptive grasping control. The manipulator is equipped with vision, slipping, Angle displacement sensor etc.
其次，针对具有完全自由被动关节的欠驱动机器人建模复杂的特点，提出了利用模糊控制的方法对欠驱动机器人进行控制。
Secondly, because of the completely free passive joints, the under-actuated robot modeling is complex. So the fuzzy control method is introduced to solve this problem.
分析了步行姿态对行进速度的影响，提出了一种欠驱动两足步行机器人步行速度控制策略并通过仿真实验对算法进行了验证。
Based on the analyses of robot configuration and walking velocity, a method to control the walking velocity is presented and validated by simulation at last.
主要研究工作如下：首先，对现有的几种常见的欠驱动机器人的原理进行了分析，主要研究了欠驱动机器人的运动规律和特点。
Major works are as follows. First of all, the existing of some common principles of under-actuated robot has been analyzed, and the motion rules and characteristics have been discussed.
倒立摆系统是一种典型的非线性欠驱动复杂难控系统，对倒立摆的研究可归结为对非线性多变量、欠驱动、绝对不稳定系统的研究。
The study of this kind of problem can be treated as the study of multivariable, nonlinear, under-actuated and absolutely unstable system.
倒立摆系统是一种典型的非线性欠驱动复杂难控系统，对倒立摆的研究可归结为对非线性多变量、欠驱动、绝对不稳定系统的研究。
The study of this kind of problem can be treated as the study of multivariable, nonlinear, under-actuated and absolutely unstable system.
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