Second,an effective algorithm for controlling continuous motion trajectory and calculating generalized Jacobian matrix is developed for SR.
首先基于地面机器人雅可比矩阵的思想和D-H法,建立了适用于空间机器人的运动学模型;其次研究了空间机器人的广义雅可比矩阵计算及其连续运动轨迹控制的有效算法;最后通过计算机仿真验证了所提出算法的有效性。
This paper builds a kinematics model of the dual arm six degree of freedom space robot,and deducts the generalized Jacobian matrix which describes the relationship between the motion rate of manipulator end and the rotation rate of joints based on this model.
本文建立了双臂六自由度空间机器人的运动学模型 ,基于此模型 ,推导出描述机械手末端运动速度与各关节运动速度关系的广义雅可比矩阵 (GJM) 。
Study on the kinematics analysis and the Jacobian matrix of an articulated manipulator;
一关节型机械臂运动学分析及雅可比矩阵求解
Research on use of Jacobian matrix on analysis of manipulators joint velocity and torque;
雅可比矩阵在对机械手关节速度与力矩分析中的应用
In order to study on dexterity measures of parallel machine tool(PMT) and its application in real processing,a novel 5-Degrees of Freedom(DOF) fully PMT consisting of five actuating limbs and one passive constraint limb is introduced,and its Jacobian matrix is established.
建立了该机床机构的雅可比矩阵,得到了三个影响机床机构灵巧度的指标,即条件数、最小奇异值、可操作性;并通过对这三个并联机床灵巧度评价指标进行分析,定义了两个灵巧度的综合评价指标-综合灵巧度系数和综合灵巧度,分别作为评价不同位形下灵巧度和整个刀位文件灵巧度的指标。
To improve the speed of inversion algorithm in electric well logging,a rapid algorithm for Jacobi matrix computation was proposed.
为了提高电法测井反演的速度,提出了一种快速计算雅可比矩阵的方法,即只考虑每个待反演参数的微小改变对其所在层及其邻层视电阻率有影响,而对其他层的视电阻率没有影响,从而节约了大量计算雅可比矩阵的时间,其反演的时间与待反演的参数个数基本上呈线性关系。
The key point of 2 D or 3 D resistivity tomography imaging is to get elements of sentivity matrix or Jacobi matrix.
二维或是三维电阻率反演成像研究 ,最关键的环节是在反演系数矩阵即敏感矩阵(或雅可比矩阵 )的求取上 。
Jacobi matrixes reflecting the relations between inputs and outputs were aquired.
初步确定了机构作业空间的约束条件;同时求出了反映机构输入输出映射关系的雅可比矩阵。
A Modified Method for Jacobian Matrix with Screw Theory and Vector Product;
旋量理论与矢量积法相结合求解雅可比矩阵
Computer Simulation Approach for Solving Jacobian and Kinematic of Mechanisms and Application;
机构运动分析与求解雅可比矩阵的计算机模拟法及应用
An approximate 2-D Jacobian is got through transforming the RRI partial derivatives to 2-D partial derivatives and ignoring the byway derivatives.
该方法的基本原理是,采用二维有限元法进行正演计算,通过一组修正系数把RRI法计算的一维偏导数转化为二维偏导数,并且在偏导数矩阵中只保留对本测点模型参数的偏导数,忽略对其它测点参数的偏导数,形成一个近似雅可比矩阵。
Jacobian matrix and force-mapping matrix are calculated from the inverse-kinematics of the parallel-mechanism.
这种方法首先由机构的逆解计算其力映射矩阵、雅可比矩阵。
A Modified Method for Jacobian Matrix with Screw Theory and Vector Product
旋量理论与矢量积法相结合求解雅可比矩阵
DETECTION OF JACOBIAN SINGULARITY AND NETWORK ISLANDING
雅可比矩阵的奇异性检测和网络孤岛的判断
Image Jacobian-based intelligent robot visual tracking
基于图像雅可比矩阵的智能机器人视觉跟踪
By using differential transformation method, the Jacobian matrix is got.
最后利用微分变换法,获取机器人雅可比矩阵。
Study of new analytic solution of robotic relative Jacobian matrix
机器人相对雅可比矩阵解析求解方法研究
On-line Estimation for Image Jacobian Matrix Based on Improved Kalman Filter
基于改进的卡尔曼滤波图像雅可比矩阵估计
The estimation of image Jacobian matrix with time-delay compensation for uncalibrated visual servoing
带有时延补偿的图像雅可比矩阵估计方法
2.Evaluating the subnetwork contribution in Jacobian matrix by analysing the sensitivity network.
2.使用灵敏度网络求取子网络对雅可比矩阵的贡献。
Computer Simulation Approach for Solving Jacobian and Kinematic of Mechanisms and Application
机构运动分析与求解雅可比矩阵的计算机模拟法及应用
Research of Multi-joint Robotic Visual Servoing Control System Based on Image Jacobian Matrix;
基于图像雅可比矩阵的关节机器人视觉伺服控制系统研究
Image Jacobian-Based Uncalibrated Visual Servoingfor Industrial Robot;
基于图像雅可比矩阵的无标定工业机器人视觉伺服
Kinematics Analysis and the Jacobian Matrix Solution for a Four Degree of Freedom (4-DOF) Mechanical Arm
四自由度机械手臂运动学分析及雅可比矩阵求解
Reduced Jacobian Matrix Based Method to Assess Local Static Reactive Power/Voltage Supporting Ability of Interconnected Wind Farm
基于降阶雅可比矩阵的并网风电场局部静态电压支撑能力评估
The micro-nano-manipulability is analyzed through the Jacobian matrix.
依据微纳操作器的可操作空间最大化,对微纳操作器的雅可比矩阵进行了分析。
The Jacobian matrix of velocity of the PMT is obtained by using screw theory and the asymmetry of the matrix is analyzed.
利用螺旋理论求得了该机床的速度雅可比矩阵,并对其非对称性进行了分析。
By studying on Jacobin matrix of planar, a method that can make the machine avoid singularity on operating is put forward.
通过对五杆机构雅可比矩阵的分析，提出了避免机床在工作时出现奇异位形的方法。
The robot kinematics is analyzed, the kinematics equation and the Jacobian matrix are built.
对测量机器人进行了运动学分析,建立了测量机器人的运动学方程及其雅可比矩阵。