The relations between joint torque deviation and angular velocity of manipulator are controlled.
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。
To decrease the damage of grasping soft objects, an online joint torque predictive grasping control scheme is proposed based on external torque control loops.
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。
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。
I have found that the best poses for sacroiliac pain are twists and asymmetrical forward bends, both of which help to diminish the torque through the joint.
我发现骶髂疼痛患者适合做的瑜伽体式是扭转和不对称前屈，这两种都帮助减少该关节的扭矩。
The path planning carried out by this index will give a minimum joint driving torque.
根据该指标所进行的轨迹规划可以获得最小的关节驱动力矩。
Curves that each joint angle, joint moment and nonlinear twist spring's torque with the time in the process are obtained using Matlab, and discussed contrast to linear joint.
并从袋鼠腿部的生物构造，引入了非线性刚度表达的柔性关节，通过与线性关节模型对比，探讨了踝关节非线性对其关节力矩和起跳性能的影响。
The relation between torque, speed, Jacobian and compliance in actuator space and the same parameters in joint space is obtained.
找出在执行机构空间和在关节空间内的扭矩、速度、雅各比及齐次变换矩阵之间的关系。
Based on the TDC technology, a torque sensor for a robot joint is designed and fabricated.
设计并制作了基于TDC技术的机器人关节力矩传感器。
The paper introduces a new type torque sensor used in robots joint and analyzes its working principle.
介绍了一种用于机器人关节上的新型力矩传感器，分析了力矩传感器的工作原理。
A dynamics model of the robot is used to analyse the driving torque of each joint, and the driving power of motors are decided based on the analysis results.
利用两足步行椅机器人动力学模型，分析了各关节的驱动力矩，以此确定了驱动电机的功率。
Dynamic differential equation is established with Kane method. The formulas of input torque at each joint and force acting on the ground and the approach to equivalent spring stiffness were presents.
并用凯恩法建立了系统动力学微分方程，推导了跳跃机构各关节输入扭矩和对地面作用力的计算公式，同时提出了确定等效弹簧参数的方法。
Then, based on eliminating the internal force inherent in redundant mechanism, torque of each driving joint are calculated from the force acting on the terminal of the parallel-mechanism.
然后，基于消除冗余并联机构固有内力的原则，由冗余并联机构的末端力得到机构各个主动关节的驱动力。
A finite element(FE) model for a tripot universal joint is developed, and a FE analysis on the contact stresses in the parts of the joint under extreme torque is conducted using ANSYS software.
将轿车三枢轴式等速万向节的三维模型经过结构简化离散成有限元模型，并应用ANSYS软件对其承受极限转矩时的内部接触应力进行有限元分析。
This paper studies the computation algorithm of joint driven torque and the control algorithm to capture target for Free Flying Space Robots(FFSR).
本文研究了自由飞行空间机器人 （FFSR）关节驱动力矩的求解算法及在其基础上的捕捉目标控制算法 。
Because universal joint with sliding blocks is able to transmit bigger torque under inclining condition, it is used widely in heavy machinery field.
滑块式万向接轴因其能在倾角较大情况下传递较大的扭矩而被广泛应用。
The simulation result shows that the angle of each articulation and the torque of each joint change smoothly. So the running of the robot is designed rationally.
仿真结果表明：机器人跑步时各个关节角度和关节驱动力矩变化平稳，因此起跳动作设计合理。
The transient dynamic analysis researched the dynamic stiffness and strength of the joint by investigating the maximum stress and strain when it transmits torque.
瞬态动力学分析通过考察联轴器传递转矩过程中的最大应力、最大位移及其发生部位来分析联轴器的动态刚度和强度状况。
This article studies the influence of the bolt tightening torque on the fretting damage of LY12CZ aluminium alloy double shear lap bolted joint by experimental and conumerical analysis.
从试验和数值分析两个方面研究了螺栓预紧力矩对LY12CZ铝合金双盖板对接螺纹联接件微动损伤的影响。
This article studies the influence of the bolt tightening torque on the fretting damage of LY12CZ aluminium alloy double shear lap bolted joint by experimental and conumerical analysis.
从试验和数值分析两个方面研究了螺栓预紧力矩对LY12CZ铝合金双盖板对接螺纹联接件微动损伤的影响。
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