Finally, some applications of the under-actuated mechanism is shown.
最后给出了一些欠驱动机构的应用实例。
And the concept of the under-actuated robot has been amended based on these studies.
并在此基础上对欠驱动机器人的概念提出了修正意见。
According to same reason, the motion plan for an under-actuated system is much difficult.
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。
VTOL aircraft is an under-actuated system with three degrees of freedom and two control inputs.
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。
The under-actuated is an important technique of fault tolerance control technology for space engineering.
欠驱动技术在航天领域有重要应用价值。
Finally, the design of an under-actuated manipulator which is driven by pneumatic circuit has been finished.
最后，设计了一个利用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.
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。
A new viewpoint that the under-actuated process bases on the re-allocation of the driving forces and the motion pairs has been proposed.
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。
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。
An optimal motion planning scheme for a three-link planar under-actuated manipulator moving between two stationary states was considered.
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。
A super under-actuated humanoid robot multi-fingered hand, TH-2 Hand, was designed based on the previous under-actuated finger mechanism.
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。
In the field of control systems, due to the non-linear characteristic of the under-actuated system, the analysis and solution become more complicated.
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。
Compared with the traditional under-actuated mechanism for single multi-joint finger, this paper proposed a novel multi-finger under-actuated mechanism.
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。
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.
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。
By reducing the driven units, without affecting the main features of the case, the under-actuated robot can simplify the structure and reduce costs effectively.
通过减少系统驱动，可以在不影响主要功能的情况下，大幅的简化机器人结构，降低成本。
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.
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。
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。
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.
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。
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.
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。
But these methods are of strong limitation, that is that these methods are only fit to resolve some special controlling problems of under-actuated problems, and have not general meaning.
然而，这些方法大多都有很强的局限性，即只适合于解决某种类型的特殊问题，不具有普适的意义。
The effectiveness of the method is confirmed by an experiment with a real under actuated robot.
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。
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。
Based on the classification of the electromagnetic actuated micro-devices, the instabilities of different kinds of electromagnetic micro-devices were analyzed under MMF-controlled models.
在对电磁驱动微器件进行分类的基础上，详细分析了磁动势控制模型中不同类型电磁微器件的失稳特性。
Taking vane actuated mechanism as study object, the paper mainly analyses its dynamic properties in supersonic environment and establishes the mathematical model under this condition.
以航弹引信旋翼机构为研究对象，着重分析了其在超音速流场中的机构动力特性，建立了该机构在超音速条件下的数学模型。
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.
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.
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。
应用推荐