In this paper, the problem of motion planning of space manipulator system is discussed.
讨论空间机械臂系统的运动规划问题。
Space manipulator 's motion characteristics and its free workspace division are dis - cussed.
首先讨论了空间机械手的运动特点及其各自由工作空间的划分。
In this paper, the control problem of free-floating space manipulator system with prismatic joint was studied.
讨论了载体的位置与姿态均不受控制的漂浮基带滑移铰空间机械臂的控制问题。
Based on air bearings, a ground experiment system for optimizing the 3-dof space manipulator reaction is set up.
基于气浮轴承方法，建立了3自由度空间机械臂反作用优化地面实验系统。
The inverse problem of space manipulator described by full Cartesian coordinates is studied in the present paper.
讨论了用完全笛卡尔坐标描述的空间机械手逆动力学问题。
For the space manipulator with an attitude-controlled base, the parameters of the adaptive control is generally driven by tracking errors.
对于本体姿态受控而位置不受控的空间机械臂系统，其自适应控制通常是从跟踪误差中获取有关参数信息。
Finally, a space manipulator with three arms (the last arm is flexible) is simulated, and the theoretical analysis is verified to be correct.
最后以一末杆为柔杆的空间三杆机器人为例，验证了理论分析的正确性。
The parameters of a space manipulator on-orbit are unavoidably different from those before it was sent to the outer space for the effect of various factors.
由于各种因素的影响，在轨机械臂的结构参数势必不同于其在地面时的结构参数。
Based on the above results, the free-floating space manipulator system was modeled by the RBF neural network technique, the GL matrix and its product operator.
基于上述结果，自由浮动空间机械臂系统模型的RBF神经网络技术，GL矩阵和其产品的运营商。
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.
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。
When the inertial parameters are unknown, two adaptive control schemes are proposed based on the results for a free- floating space manipulator system to track the desired trajectory in workspace.
在此基础上，给出了系统参数未知时由空间机械臂末端惯性空间期望轨迹产生机械臂关节铰期望角速度、角加速度的增广自适应控制算法。
In one hand, the manipulator positioning is achieved by decomposing the track velocity vector in joint space with minimal least square method.
一方面，采用腕部速度矢量在操作臂关节空间极小最小二乘分解的方法规划操作臂关节速度。
Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space.
对宏微机器人的控制在关节空间进行，通过微机械手的快速运动对宏机械手的轨迹误差在线补偿。
On the basis of this design, the kinematics is analyzed and the relationship between arthrosis parameters and manipulator space in position, speed and acceleration is given.
在此基础上，对物料抓取机械手运动学和动力学进行了分析和设计，得出了关节变量和操作空间在位置、速度以及加速度之间的对应关系。
A profound approach about SCARA manipulators configuration space is made in this paper. The obstacle space of SCARA manipulator produced by convex polygon obstacle is proved to be a connected area.
对SCARA型操作臂的C空间作了深入研究，证明了凸多边形障碍物在SCARA型操作臂的C空间中形成一连通的障碍物子空间。
Redundant actuation can effectively eliminate singularities in the task space of a parallel manipulator, but the drive force distribution is not unique because of the redundant actuation.
驱动冗余可有效消除并联机构在作业空间中的奇异位形，但其导致驱动力分配不唯一。
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.
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。
In this dissertation every forward solution was defined as an assembly configuration, and the parallel manipulator could move only in one configuration space.
本文还将并联机构的每一正解定义为一个构型，机构只能在一构型空间中运动。
On the base of the kinematics model, the thesis introduces the characteristic of work space and an approach to solving the work space. Then, the work space of the manipulator is simulated.
在此基础上，讨论了机械手工作空间的形成、特点和求解方法，并对机械手的工作空间进行仿真。
Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.
利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。
The relationship between the link lengths and the workspace area performance index of this manipulator is investigated too, and the area performance atlases are plotted in design space.
探讨该并联机器人机构的工作空间面积性能指标与杆件尺寸之间的关系，并在设计空间里绘制相应的工作空间面积性能图谱。
This paper studies a fault-tolerant control system for a space modular manipulator system mounted on space station or other spacecrafts such as satellites, located in low earth orbit.
研究搭载在空间站或其他近地轨道航天器上的空间模块化机械手系统的容错控制系统。
This paper presents the design process of a cartesian coordinate loading robot manipulator wl. ich works in closed and narrow space with obstacles and undertakes loading tasks.
介绍了一种工作在封闭、狭窄、有障碍物的特殊作业空间中的直角坐标式装填机器人操作机的设计过程，阐述了该机器人的特点。
Base on a new describing method of the orientation-workspace, a new arithmetic of the orientation-workspace and the singular orientation-space of the parallel manipulator is developed.
在给出一种姿态空间描述方法的基础上，提出了一种姿态工作空间和奇异姿态空间的求解算法。
The manipulator is capable of finishing various operations in a three-dimensional space and can carry an object from one azimuth to another azimuth within certain spatial range.
该机械手能在三维空间完成各种作业，在一定空间范围内将一个物体从一个方位搬运到另一个方位。
The manipulator is capable of finishing various operations in a three-dimensional space and can carry an object from one azimuth to another azimuth within certain spatial range.
该机械手能在三维空间完成各种作业，在一定空间范围内将一个物体从一个方位搬运到另一个方位。
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