模拟结果显示所提出的控制器具有快速跟踪预定轨迹、对参数时变和外部扰动具有鲁棒性等特点。
The simulation results show that the proposed controller is effective in fast tracking and robust to parameter variation and external disturbance.
同时深入论述了机器人离线编程的方法以及机器人预定轨迹的实现，并以实例论证了预定轨迹实现。
Then the means of off-line programming are researched deeply and preconcerted trajectory of the robot is realized and demonstrated by examples.
在拖曳速度为6～9节的情况下，能够控制拖曳系统按预定轨迹进行波浪运动，同时保持较稳定的姿态。
The towed vehicle could fly along the desired track and keep the steady attitude under 6~9 knots speed.
单凸轮连杆组合机构可克服上述缺点，即可以方便地再现预定轨迹并有精确解，但其缺点是难以实现内凹曲线的轨迹复演。
Single CAM linkage mechanism can overcome the shortcomings mentioned above, however the new problem is that the mechanism can not generate the path which has concave curve.
提出了利用连杆转角算子对带有预定时标的曲柄滑块机构连杆轨迹进行尺度综合的方法。
The method of dimension synthesis for the path of connecting rods of crank slider mechanism with predetermined time scale by using rotation angle operator of connecting rods is proposed in this paper.
研究了利用机构输出特性的谐波特征参数进行带有预定时标连杆轨迹优化尺度综合的方法。
The method of optimal dimension synthesis for path generation with prescribed timing by using harmonic characteristic parameters of the planar linkage's output properties is developed in this paper.
运动控制器是通过对由电机驱动的执行机构等设备进行运动控制，以实现预定运动轨迹目标的装置。
Motion controller is the equipment that control the motor driven machine to implement the expectant motion locus.
预定的飞行轨迹可以有两种规划方式，一是近似在当地切平面上的直线或曲线；
One is straight line or curve on the local plane. The other is the great circle flight path on the earth surface.
为使机器人按预定的轨迹运动，比如说按直线，必须把这一路径分成许多小段，让机器人按照分好的小段路径在两点间依次运动（轨迹规划）。
For the track which the robot must follow, such as line, we must divide it into many short segments, letting robot pass through two end points of the short lines in turn(track programming).
研究了全球卫星定位系统（ GPS）自动归航系统在恒定风场中归航轨迹的计算，探讨了系统能够达到预定目标点的条件，给出系统在几种变化风场中的轨迹图。
This paper analyses the trajectory of GPS automatics homing system in constant wind fields , and discusses the condition under which the gliding parachute system could reach preassigned location.
研究了全球卫星定位系统（ GPS）自动归航系统在恒定风场中归航轨迹的计算，探讨了系统能够达到预定目标点的条件，给出系统在几种变化风场中的轨迹图。
This paper analyses the trajectory of GPS automatics homing system in constant wind fields , and discusses the condition under which the gliding parachute system could reach preassigned location.
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