轨迹

The methods of trajectory planning and trajectory generating are analyzed both in joint coordinates space and Cartesian coordinates space based on kinematics of robot.

在机械手运动学和动力学的基础上，讨论在关节空间和笛卡儿空间中机器人运动的轨迹规划和轨迹生成方法。

The trajectory plan of welding robot is made for the purpose of realizing the predefined track by using the merits of joint space method and Cartesian space method. The realtime simulation is given.

为使机器人实现预期的轨迹运动，结合关节空间法和直角坐标空间法两种方法的优点对焊接机器人的轨迹进行规划，并给出实用的计算机仿真结果。

On this condition, the author analyzed the robot"s operating task and the robot"s motion path, and used cubic spline method for continuous path motion trajectories planning of surgical robot in Cartesian space.

在此基础上分析了机器人的作业任务和运动路径，采用在笛卡尔坐标中的三次样条法对机器人运动路径进行了轨迹规划，得出了无框架立体定向手术机器人专用轨迹规划器。

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

Arranging two motors above shaker basket can be made to balanced elliptical track, and achieved a point with the center of force and mass of the basket by adjusting angle of weight.

将电机放置在筛箱的上面可以实现椭圆轨迹，且通过调节上下偏心块的夹角，可以实现力心和筛箱质心的重合，从而实现平动椭圆振动轨迹。

This paper introduces the current situation of shaft centerline orbit test, the principle of the test and analyzing method of the orbit.

论文介绍了轴心轨迹测试的现状，轴心轨迹测试的原理和分析方法。

By analytic geometry method and solving quadratic equation,a computer simulation algorithm of digital projection under arbitrary scanning locus was proposed.The algorithm is based on the rules of attenuation of monochromatic X-rays.Through mathematical modeling and computer simulation,digital projections of ellipsoid and cylinder in circular and helix scanning modes are exemplified respectively,which are proved to be correct by FDK and PI-line reconstruction algorithms.

介绍了一种利用解析几何和求解二次方程仿真任意扫描轨迹下的锥束射线投影数据算法，该方法基于单色射线贯穿物体的衰减理论，通过数学建模与计算机仿真，给出了椭球、圆柱两种典型模型分别在单圆、螺旋线扫描轨迹下的投影数据仿真结果，并利用FDK和PI线重建算法进行验证，证明了该种数值仿真方法的正确性。

The track of local warin China bears clearcut individual features as well as the general featuresof the track of world local war.

二战后中国局部战争的轨迹既体现了世界局部战争轨迹的一般性特征，同时又具有鲜明的个性。

To realize the automatic steel billet snagging, the snagging path planning is accomplished. At the corner of the path, a duality clothoid ensures the continuous variation of velocity and acceleration.

结合目前亟待解决的钢坯局部修磨自动化问题进行了修磨轨迹规划，在轨迹的拐角处采用了一种对偶形式的回旋曲线进行过渡，保证了机器人在运动过程中速度和加速度的连续变化性。

According to the characteristics of altimetric satellite's orbit, this thesis systematically studies the theory and methods of satellite altimeter data processing. The content includes the analysis of satellite's radial error in time domain and in space domain, the spectra characteristics of collinear tracks and crossover points distribution, the integral method and the computation and analysis of Topex altimeter data.

本文针对测高卫星轨道及地面轨迹所独有的特点，较系统地研究了卫星测高数据处理的理论与方法，内容涵盖了测高卫星径向轨道误差的时域特征分析与空域特征分析、共线轨迹与交叉点分布等的谱特征、整体求解法的研究以及Topex测高数据的初步计算与分析。

Methods: Five patients with parkinsonism or dystonia were assigned to general anesthesia using an modified endotracheal tube.

本实验依照人体实验之相关规定进行，五位患有帕金森氏症或肌张力异常的病人接受神经立体定位手术。

If you can benefit from this book, it is our honour.

如果您能从本书获益，这将是我们的荣幸。