分析混联机械手的位置正、逆解问题。
The inverse and forward position problems of the hybrid robot are formulated.
通过分析，得到了运动学逆解的解析公式。
Analytical expression of inverse solution for kinematics equation is solved.
智能登山法是一种新型的运动学逆解求取方法。
Intelligent hill climbing algorithm (IHCA) is a new way to solve the kinematic inverse solution.
用简易坐标投影法计算了其位置分析的正、逆解析解。
The forward and inverse analytical solutions of its positional analysis were computed by the use of simple and easy coordinative projection.
一般6R机器人的位置逆解具有非常重要的理论与实际意义。
The inverse kinematics of general 6R serial robot is a central problem in theory and practice.
这种方法首先由机构的逆解计算其力映射矩阵、雅可比矩阵。
Jacobian matrix and force-mapping matrix are calculated from the inverse-kinematics of the parallel-mechanism.
探讨了BP网络在MOTOMAN机器人运动学逆解中的应用。
This paper discusses the application of the BP network in inverse kinematics of MOTOMAN manipulator.
讨论了3 -RSR并联机器人机构的结构特点及其运动学逆解等。
The structures of 3-rsr parallel robotic mechanism and its inverse kinematics solution are discussed.
提出了一种具有自适应转子电阻估计器的感应电机的逆解耦控制方法。
A novel inverse decoupling control method with the adaptive rotor resistance estimator for induction motor is proposed in this paper.
本文在D -H齐次变换矩阵的基础上，对焊接机器人进行运动学逆解。
An inverse kinematics analysis of the designed welding-robot based on D-H displacement transformation matrix was put forward.
在粮仓取样机器人中，求运动学逆解的方法很多，但都比较繁琐，运算过程冗长。
In granary sampling robots, there are lots of methods solving inverse kinematics, but they are niggling and their operation procedures are lengthy.
六自由度串联机械手的位置逆解问题一直是机器人学研究领域的难点和热点之一。
The inverse kinematics of 6 DOF manipulator is one of the main concerns and difficult problem in robotics.
其力逆解即给定作用于上平台上某点的外力，求系统处于静力平衡时的所有构形。
Its inverse force analysis is to find all equilibrium configurations when an external force ACTS on its moving platform.
推导了并联机床位置、速度逆解模型，设计了面向该并联机床的CNC系统方案。
Inverse displacement analysis model and inverse kinematic analysis model are derived, scheme of CNC system for PMT is designed.
机器人位置问题正解采用齐次变换矩阵法解算，逆解采用只保证位置的插值算法。
The positive algorithm of robot positions is solved by the same power transformation matrix method, while the negative algorithm adopts interpolating method ensuring the position only.
第二页：使用了逆解拉普拉斯变换，来计算作为位置阶跃变化的时间函数的象征响应。
Thesecond page uses the inverse Laplace transform to compute the symbolic responseto a step change in position as a function of time.
提出对数控机床制造误差求解思路，通过数控机床制造误差求逆解的方法求出其误差值。
The paper puts forward an idea to solve the manufacturing error of CNC Machine, and the error value is achieved according to the method of error inverse solution.
建立了6自由度6-3-3并联机构的运动学逆解模型，给出了该机构奇异性判别矩阵。
First, the inverse kinematics of six DOF(degree of freedom) 6-3-3 parallel mechanism were modeled mathematically and the discriminant matrix about singularity of the parallel mechanism was derived.
利用旋量理论和指数积方法求解了6 -PRRS并联机构主动关节与被动关节的位置逆解。
Based on screw theory and exponential product method, the inverse kinematics of the passive and active joints of the 6-prrs parallel robot was resolved.
重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。
The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and the Jacobi matrix of kinematics forward solution was derived.
推导了该车铣复合加工中心的定杆长并联机构3-PRS的位置逆解、位置正解和被动关节求解算法；
This paper solves the positive position solution , the inverse position solution and the passive joints solution of the fixed length 3-PRS parallel mechanism of the machine tool;
然后，本文探讨了机器人运动学正逆解求解方法和伺服电机控制算法，详细地讨论了其中的PID算法。
Then the paper discusses method of robot's kinematics and inverse kinematics and robot's control arithmetic mostly about PID control.
以机器人运动学方程为基础，基于变换矩阵中旋转子矩阵正交的特性，提出一种6r机器人运动学逆解算法。
Based on the kinematics equation and the orthogonal character of the rotation sub-matrix in a transformation matrix, an approach to the inverse kinematics problem of 6r robots is proposed.
该方法使障碍回避过程不再依赖于运动学优化，将冗余度机械臂转化为非冗余度机械臂，直接给出位置形式的逆解。
The approach implements collision avoidance without kinematics optimization and converts the arm into a non-redundant structure to directly calculate its inverse kinematics.
运动学位置正解和位置逆解是对并联机器人其它性能进行分析的基础，位置正解也是并联机器人研究中的一个难点。
The forward displacement and inverse displacement analysis in kinematics is the foundation for analyzing other performances of a parallel platform manipulator.
SCARA运动学的研究中，以旋量，李群李代数为基础的POE指数积法求解运动学正解，逆解以及速度雅可比。
In the study of SCARA's kinematics, POE is used to obtain positive, inverse and jacobian solution, based of screw, Lie groups and Lie algebra.
本文取得如下成果：借助矢量法、约束方程和动能定理分别构造出机械手的位置逆解模型、速度雅克比矩阵、质量惯性矩阵。
With the aid of vector method, constraint equation, kinetic energy consideration, the inverse position model, Jacobian matrix and mass matrix have been developed.
给出了机器人的运动学正解和逆解，提出了一套机构简化方案，完成了机器人的各种手臂姿态规划，分析了存在的运动干涉约束。
The forward kinematics solution and inverse kinematics solution are given and a set of robot mechanism simplification procedures are put forward.
对平面二自由度五杆机构的位姿形式及位置逆解进行分析之后，提出了用二自由度辅助机构进行全铰链五杆轨迹机构综合的方法。
A method that USES two degrees of freedom (DOF) auxiliary mechanisms to path synthesize a five-bar mechanism was presented after analyzing the posts and inverted solutions of the five-bar mechanism.
对平面二自由度五杆机构的位姿形式及位置逆解进行分析之后，提出了用二自由度辅助机构进行全铰链五杆轨迹机构综合的方法。
A method that USES two degrees of freedom (DOF) auxiliary mechanisms to path synthesize a five-bar mechanism was presented after analyzing the posts and inverted solutions of the five-bar mechanism.
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