The kinematics model of the manipulator and end-effecters were established.
之后对各部分进行了具体的结构设计。
Forward kinematics model is set up based on solid geometry by a rapid calculate method.
正向运动学模型采用了一种基于空间几何法的快速计算法。
The authors build the inverse kinematics model of the flexible macro manipulator system.
建立了悬索柔性机器人系统的逆运动学模型 ；
This paper presents the kinematics model and the velocity Jacobian matrix of the two degree of freedom motor.
给出了正交圆柱结构两自由度电动机的运动学模型及变换矩阵，推导了速度雅可比矩阵。
State of force is analysed and kinematics model is established about table and ball-screw in high-speed motion.
对滚珠丝杠和工作台结构在高速运动下受力状态进行分析建立了力学模型。
The kinematics model is established by using the D-H method, and solved by using the counter transformation method.
并用d - H方法建立了机械手的运动学模型，用反变换法对其进行了运动学反解。
Car body points were measured by using the modified kinematics model and compared with the distance data of laser tracker.
通过运用修正后的运动学模型对车身点实施测量，并与跟踪仪的实测距离数据进行比较。
Has carried on the analysis and the adjustment to the robot hardware architecture, and analyzed the robot kinematics model.
对机器人硬件结构进行了分析和调整，对机器人的运动学模型进行了分析。
We also take the kinematics model of wheeled mobile robot into account and use the speed of wheels directly as the output of fuzzy rules.
我们还需要考虑的轮式移动机器人的运动学模型和模糊规则的输出，直接用车轮的速度。
The kinetic model transformation theorem in the change kinematics model is put forward and deduced based on the Lagranges kinetic equation.
本文基于拉格朗日动力学方程推导并提出了变运动学模型下动力学模型变换定理。
On the basis of the 5-DOF surgical framework's structure, its system of coordinates is set and its kinematics model based on D-H model is put forward.
在分析五自由度手术框架的结构特点的基础上，建立了五自由度手术框架坐标系并提出了基于D-H模型的五自由度手术框架运动学模型。
The inverse kinematics model of reconfigurable modular robots is based on the local product-of-exponential formulas and differential kinematics equations.
对可重构模块化机器人逆运动学，我们采用局部指数乘积公式和微分运动学公式而建立的逆运动学数学模型。
The paving process of asphalt paver and the action between mixture and screed are analyzed in order to solve the problems in kinematics model of screeding unit.
为了解决沥青混凝土摊铺机熨平装置运动学模型存在的问题，分析了摊铺机的摊铺过程以及混合料与熨平板之间的作用关系。
First, the simplified dynamics and kinematics model of attack helicopter air-combat are created, and the specific method on simplification of the model is given.
首先建立了简化的武装直升机空战动力学和运动学模型，阐明了模型简化的具体方法；
The 4 joints universal human body inverse kinematics model and inverse dynamics model in weightlessness utilizing computational multi-body dynamics were proposed.
给出了应用计算多刚体系统动力学建立的通用失重人体4关节反向运动学与反向动力学模型。
Based on the analysis the kinematics model is established and it is checked by the kinematicss simulation of protrusion capture ring and cushion damping procedures.
在此基础上建立系统的运动学模型，利用捕获环伸出过程和缓冲阻尼过程系统运动学仿真验证了系统模型。
The autonomous cleaning robot moving mechanisms are designed, the kinematics model of the robot is developed, it's motion characteristics are analyzed and experimented.
设计了自主移动清洁机器人的运动机构，建立了机器人的运动学模型，并对机器人的运动学性能进行了理论分析与实验研究。
An algorithm is presented to determine the SAR satellite attitude with the aid of the SAR satellite kinematics model and the information of GPS wide-band carried phase.
针对姿态对星载SAR成像质量的重要影响，提出一种借助于SAR卫星姿态运动学特性和GPS宽波载波相位信息进行SAR卫星姿态测量的算法。
The new method is called welded line tangent method which forms a kinematics model for the robot operating in the bent degree based on the judgment of the tacking system.
该方法是根据焊缝跟踪系统判断焊缝的弯曲程度，确定机器人的运动学模型。
Firstly, a kind of kinematics model of two-wheel driven mobile robot is analyzed. Aimed at its trajectory tracking control problem, the sliding-mode controller is designed.
首先，分析一类两轮移动机器人的运动学模型和动力学模型，针对其轨迹跟踪控制问题，设计滑模控制器。
We use the screw theory to establish the basic functions of machine kinematics model. And on this basis, completing the motion module modeling of machine mechanical system.
利用旋量理论建立机床基本功能模块的运动学表达式，并在此基础上完成机床机械系统的运动功能模块建模；
The kinematics model and driving force model for the micro in-pipe robot in line pipe and bending pipe are established, which can provided control basis for external power.
建立了微型管道机器人在直线管道、弯曲管道的运动学分析和驱动力分析模型，为驱动力外置提供了控制依据。
The unitary missile target kinematics model is established based on the relative kinematics firstly. Then the guidance law is designed using variable structure system theory.
首先在相对运动学的基础上建立了归一化的导弹—目标的运动学模型，然后利用变结构控制理论设计了导引律。
The second method researches dynamic path planning under dynamic environment of mobile robot subjecting to rolling constraint that is involved in the robotic kinematics model.
第二种方法从轮移式机器人的运动学模型出发，研究了受到滚动约束的移动机器人在动态环境中的运动规划问题。
The flexible control system with PC and motion control card is developed. The kinematics model is built and corresponding working space and kinematic parameters are determined.
设计了计算机加运动控制卡的开放式控制系统，并根据机器人学理论对系统进行了运动学建模，确定了系统工作空间及各关节运动参数。
A kinematics model by post D-H method for 4R-robot was offered in this paper, which derived the manipulator finger position and its attitude with unit vectors of direction cosine.
采用D-H后置法建立了4R机器人运动方程，建立机器人执行机构在空间相对位置关系的数学模型，由此可解出手部位置和用单位矢量方向余弦表示的姿态。
Finally, present the simulation result of above design combining seeker handing-off model, compound control system model, projectile body kinematics model and target maneuver model.
根据以上设计，结合导引头模型、复合控制系统模型、弹体运动学模型、目标机动模型，给出上述设计的仿真结果。
Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；
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。
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。
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