宏微机器人轨迹规划离线进行，通过任务放大的方法分解宏微机器人运动学冗余。
Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment.
基于速度欧拉范数值最小，提出了冗余度tt- VGT机器人轨迹规划的一种方法。
A method for trajectory planning of redundant TT VGT manipulators is presented by minimizing the Eulerian norm of joint velocities.
本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。
Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.
本文针对考虑关节弹性的两冗余度机器人协调操作中的关节轨迹规划问题进行了研究。
In this article, the problem of joint trajectory planning in the coordinated manipulation of redundant robots with joint elasticity is researched.
机器人的轨迹规划可以在关节空间中进行，也可以在直角坐标空间中进行。
The trajectory planning of robot can be done in joint space coordinate and Cartesian space coordinate.
本文从机器人任务空间的几何结构出发，对任务空间轨迹规划进行了总结。
The task space trajectory planning for robots is reviewed and analyzed based on the geometric structure of task space.
研究解决了基于工作空间焊接机器人无碰撞轨迹规划问题的有效途径几何图形法。
In this paper, an effective geometry-graphics method based on Euclid space for welding robot collision-free trajectory planning is studied.
该算法在CAD模型分割、建造、几何特征提取、生产车间以及机器人运动轨迹规划等方面都有很高的应用价值。
The algorithm have large application value in the many fields such as models partition, constructing, geometric character distilling in CAD, the manufacture shop and robot motion track planing.
进而重点介绍机器人与生产线间的协调轨迹规划方法。
A method of coordinated trajectory planning between the robot and the production line is presented in detail.
本文首先介绍了国内外喷漆机器人离线编程系统的研究现状及意义，提出了喷枪最优轨迹规划问题(OTPP)。
This paper first describes the research purport and current research level of the off-line programming system for painting robot, and points out the Optimal Trajectory Planning Problems (OTPP).
基于最优载荷分配，针对双臂机器人协调运动的关节轨迹规划进行研究。
Based on the minimal load distribution, the joint trajectory planning was researched for coordinate motion of dual-arm robot in this paper.
在对KLD- 600机器人的正逆运动学分析的基础上，采用关节空间法分析了轨迹规划，建立了控制程序基础模型。
Based on analysis positive and reversal motion of KLD-600 robot, planning of trajectory is analyzed in detail by the method of joint space and the basic model of the control program is created.
规划轨迹平滑连续，无抖动与停顿，可以保证机器人正常工作。
The planned track is smooth and continuous without any dithering and halt, thus normal job of robot may be ensured.
本学位论文对空间超冗余度机器人的设计及空间运动轨迹规划开展研究，具有重要科学意义和应用价值。
This thesis focuses on design and motion planning of spatial hyper-redundant robot, which is meaningful to both academic and engineering application.
根据辐射机器人的运动特性给出了运动学方程的正、反解，并对其作了动力学分析，且在关节空间对其进行了轨迹规划。
According to the moving character of this Robot, kinematic equations is obtained and solved inversely. And also gives the dynamic analysis. In Robot joint space, the trajectory is planned.
最后，应用近似化方法和黎曼度量方法，研究了机器人最优轨迹规划的问题。
In the end, the problem of robot trajectory planning is investigated by the linearization method and Riemannian metric.
针对IVECO横梁的焊接，进行了机器人的轨迹规划。
Aiming at the welding of IVECO automobile crossbeam, the track planning of robot was carried out.
实际动态实验表明，该机器人末端执行器的运行轨迹与规划轨迹相吻合。
Actual dynamic experiment showed that the motion trajectory of robot end operator coincides with the trajectory of planning.
对其中的重要问题，如喷枪建模、陶坯建模、机器人喷涂轨迹规划与仿真都进行了特别的研究。
Some important aspects like modeling of spray gun, 3D modeling of ceramic, robot spray path planning and simulation of off-line programming are specially researched.
第一阶段在图像平面上规划运动轨迹，在图像平面上得到的离散规划点映射到机器人关节空间。
In the first stage, trajectory planning is performed on image plane. Planned discrete points on image plane are then mapped to robotic joint space.
借鉴二维空间的几何图形法解决了三维空间机器人无碰撞轨迹规划问题。
The 3-d space robot collision-free trajectory planning problem, by means of geometry-graphics method in 2-d space, is resolved.
对运动物体进行光学跟踪及轨迹预测，在飞行器导航、机器人路径规划等方面一直是个研究热点。
The research of motion optical tracking and prediction is important for many fields, such as aerocraft navigation, robot path planning and so on.
本文在参考大量的文献资料的基础上，结合项目的要求，主要研究了机器人方案确定、所确定机器人方案的运动学分析和基于示教的轨迹规划。
Based on lots of literatures and combined with the actual project requirements, the paper focuses on a robot scheme establishment, kinematics analysis and trajectory planning based on robot teach.
单片机做为位置伺服控制完成PID控制算法，由计算机协调各关节的运动，准确地跟踪轨迹规划，使速度达到完全可控，机器人协调工作。
Main computer harmonizes the movement of every joint and traces path planning accurately. The system has accomplished the speed controllability and the coordinate work on Robot.
本文针对考虑关节弹性的两冗余度机器人协调操作中的关节轨迹规划问题进行了研究。
The hand path tracking and joint trajectory planning is a very important research topic in the field of robot applications.
根据焊接机器人加工过程中所要完成的轨迹及避障任务，进行了机器人沿一定轨迹运动的无碰撞轨迹规划。
Based on the track and barrier-void task of a welding robot in the period of machining, we present a program for non-collision track of robot movement.
根据焊接机器人加工过程中所要完成的轨迹及避障任务，进行了机器人沿一定轨迹运动的无碰撞轨迹规划。
Based on the track and barrier-void task of a welding robot in the period of machining, we present a program for non-collision track of robot movement.
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