运动学方程

该方案参考履带车辆转向运动学方程，采用具自调整功能的模糊算法，对深海底履带集矿机的左右履带速度进行控制。

Based on tracked vehicle kinematical equation , an adjustable fuzzy controller is used to control right and left tracked speed .

采用指数积的三自由度机器人运动学方程

Solving Kinematical Equation of 3-Degree of Freedom Based on Product of Exponentials Formula

在ADAMS软件中建立虚拟样机模型，验证了运动学方程的正确性。

The virtual prototyping model was built by utilizing the dynamics analytical software ADAMS of mechanical system .

基于D-H法推导了该机器人的运动学方程。

A kinematics equation of the robot based on D-H is given .

基于李导数对单UAV运动学方程进行精确线性化，采用图模型描述编队内UAV平台间的通信拓扑。

Then , the UAV kinematics equation is linearized based on the Lie derivative , and the communication topology is described by graph model .

研究中，采用D-H法建立了机械手的杆件坐标系和机械手的运动学方程。

Under study , the coordinate system and kinematics equations of the manipulator are established .

本文给出空间3R机械手的运动描述，通过变换矩阵推导出运动学方程。

His article describes the movement of space-3R-manipular , which endues the kinematics equation by matrix transforming .

基于C形转向的仿生学研究和简化物理模型，建立了鱼形机器人快速转向的运动学方程，分析了体干中线运动步态和鱼体质心的运动规律。

Based on the bionic research on C-turn and its simplified physical model , the kinematic equations of a fish-like robot were established , and the gaits of the locomotor and the motion of its center of mass were analyzed .

3-TPT型并联机器人运动学方程的一种建立方法

An Approach to forming Kinematical Equations of 3-TPT Inner-Parallel Robot

其次，利用飞行力学的有关原理编制了求解适合导弹离机过程的六自由度动力学及运动学方程的程序，并改写为用户自定义程序添加到商业CFD软件中去。

Secondly , a programme to solve the 6 degree-of-freedom ( DOF ) dynamics equation and the kinematics equation of the missle was made and complied based on the flight dynamics theory .

由安装在飞行器上的摄像机获取地面图像，结合飞行器的动力学和运动学方程，构成了一个非线性Kalman滤波模型。

The vision image is obtained from the camera equipped on the head of the aerocraft . From the measurement equations and the dynamic equations of the aerocraft , a nonlinear model for Kalman filter is constructed .

为分析磁悬浮列车转向架的结构解耦功能，基于D-H变换建立了转向架正向运动学方程；通过分析，得到了运动学逆解的解析公式。

To analyze the structure decoupling function of maglev train bogie , positive kinematics equations of the bogie areestablished based on D-H conversion .

根据一组多舵面无人机巡航状态的CFD（计算流体力学）数据建立其运动学方程和动力学方程，并搭建发动机模型和舵机模型；

Nonlinear equations with six degrees of freedom including kinematics equations and dynamics equations was established according to the data of the cruise status , and modeling of the engine and helm for a certain UAV ;

引入D-H方法建立了机器人的运动学方程，为机器人的控制与仿真提供了理论基础。

The kinematic equation have been built by D-H methods , which provides the theory basis for the control and simulation of the robot .

本文在机器人学的理论基础上，将机器人模型建立在D-H坐标系下，根据变换方程推导出一组简单实用的方程来实现运动学方程的正解。

Founded on D-H coordinate system , a series of kinematics equations are deduced to realize kinematics forward solution by means of transformation equations .

应用各齐次变换方程连乘的方法求出运动学方程，在此基础上求出机器人手臂运动控制的雅可比矩阵，用蒙特卡洛法代入MATLAB仿真程序分析了机器人假肢的有效工作空间。

Forward kinematics equation was solved using the homogeneous transform equation . Then jacobian matrix about the action of the robot was solved , and the effective work space of the robot had been analyzed with the Monte Carlo law by Matlab emulation program .

一旦位置反解的运动学方程建立之后，解方程的过程与一般6R机械手的算法类似。

Once the kinematics equations of position reverse solution were established , the equations solving course is similar to the algorithm of ordinary 6R manipulator .

论文研究了目前常用的控制方法，并采用标准的DH法建立机器人数学模型，运用齐次坐标变换建立了正运动学方程。

Topic analysis of the current control methods commonly used , and the DH standard mathematical model was established by the robot , the use of homogeneous transformation equations of motion are established .

通过分析各构件在空间坐标系中的位置关系，建立了并联机器人的位置运动学方程，推导了6-HTT并联机器人位置反解的求解过程。

The solving process of the position inverse solution of 6-HTT parallel manipulator is deduced .

对MAV分别进行了质心运动的动力学与运动学方程、绕质心运动的动力学与运动学方程以及机翼运动方程的研究。

The dynamic and kinematic equations of centroid movement of MAV , the dynamic and kinematic equations of movement encircling the centroid of MAV , and the movement equations of airfoils were also studied .

这是从理论研究的角度出发，建立作业手的数学模型，采用D-H法，建立作业手整体的运动学方程并求解。

This is from the theory point of view , the establishment of Practice for the mathematical model , adopt the D-H method , establish a dexterous hand overall kinematics equations for solutions .

第五章在对机器人建立了D-H坐标系的基础上，给出了机器人的运动学方程；

Based on the establish of D-H coordinate system , chapter five presents the kinematics equation of the robot , then gives the reverse kinematics solution according to the knowledge of robot reverse kinematics .

因此，为了得到机械手位于任何期望位姿时关节变量的表达式，用机器人正运动学方程的D-H表示法对卸料机械手的各个关节进行了矩阵变换，得到了机械手的总变换矩阵。

Therefore , in order to get the expression of the manipulator in any expectation pose , used robot kinematics equations D-H representation for manipulator all joints , got the manipulator total transformation matrix .

根据SK6弧焊机器人的杆件参数，建立了SK6弧焊机器人的运动学方程；

The kinematic equations of arc welding robot SK6 is established on the basis of its pole parameters .

通过D-H方法建立该型机器人的运动学方程，并对其进行了运动学逆解的推导和验证，运用矢量积法求解出机器人的雅可比矩阵。

The method of D-H had been applied to establish the kinematics equation of robot . This study had inferred and verified inverse kinematics and had calculated the Jacobian matrix of robot in vector product . 2 .

首先，介绍了机器人打磨和抛光精加工系统的机构组成和工作原理，运用D-H方法对机器人运动学方程的建立和求解作了详细的讨论。

The main content is listed as following : Firstly , this paper presents the mechanical components and the principle of a robotic grinding and polishing precision machining system , and analyses emphatically the robot 's kinematics equation by D-H method .

考虑焊枪结构，首次建立了SK6弧焊机器人焊枪末端的运动学方程。

Considering the structure of welding tool , the kinematic equations of the welding wire tip of this robot are obtained in the first time .

本文采用多体系统理论中的Kane－Huston方法，以低序体阵列描述装载机工作机构的拓朴构造，首次推导出了该机构的多体系统运动学方程；

By using Kane-Huston method of multibody system theory , by means of the lower body array to describe the topological structure of the mechanism , the multibody system equation of the working mechanism of wheel loader is first derived in this paper .

根据Denavit-Hartenber方法和机构坐标系统的变换原理，建立了基于KR350/2型机器人和RP2型旋转/倾斜变位机组成的同步工作站的运动学方程。

Kinematics equations of synchronous workstation of robot-positioner system are set in terms of Denavit-Hartenberg method and transformation of coordinate system , and the uncoupled kinematical model of robot-positioner system is also studied .

采用Denavit-Hartenberg坐标系，通过齐次变换法建立了7自由度番茄收获机械手的正运动学方程，利用蒙特卡洛方法对机械手工作空间进行仿真和分析。

Forward kinematics equation of a tomato harvesting manipulator with degree of freedom equal to 7 based on the Denavit-Hartenberg coordinate was set up through homogeneous transformation . At the same time , workspace of the manipulator was simulated by Monte Carlo method .