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球形机器人
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  spherical robot
     Research on Motion Simulation of Spherical Robot Based on Virtual Prototype Technology with ADAMS
     基于虚拟样机技术的球形机器人运动仿真研究
短句来源
     Movement Trajectory Planning and Control for a Spherical Robot
     一种球形机器人运动轨迹规划与控制
短句来源
     Finally, the motor rotating speed control of the spherical robot is studied with PID control whose parameters are adjusted by fuzzy control. The software of the fuzzy PID parameters self-adjustment system is accomplished with the corresponding simulation results.
     最后,对球形机器人电机的转速控制进行了研究,应用PID控制进行直流电机的转速控制,并将模糊算法应用到PID参数自整定当中,通过LabVIEW和Matlab的混合编程,完成了球形机器人的模糊PID参数自整定系统软件,给出了相关的运行仿真结果。
短句来源
     Based on the diagonal recurrent neural networks PID control, the controller of the spherical robot is given after getting the complete dynamic model of the spherical robot, using the modern control theory and the knowledge of the neural networks.
     在得到球形机器人的完整动力学模型之后,借助现代控制理论和神经网络的知识,构建了基于对角递归神经网络的PID球形机器人控制器。
短句来源
     The completion of these jobs laid a foundation for further study on the jumping movement of spherical robot.
     这些工作的完成为球形机器人跳跃运动的进一步研究打下了基础。
短句来源
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  spherical mobile robot
     Spherical mobile robot can realize full-orientation movement and has amplitude applications as a kind of novel robot with more simple configuration and easier control than traditional robot.
     球形机器人作为一种较新颖的机器人,它与传统的机器人相比具有结构简单,控制容易,可实现全方位运动等特点,其应用前景十分广阔。 由于其越野性能较好,不但可以作为玩具供人娱乐,而且也可以作为交通运输工具使用,特别是在军事领域能扮演重要角色,如输送军用物质,用于爆破、军事侦察等。
短句来源
     Its most work is described as below:1 . To establish elementary configuration project and most research contents through comparison and evaluation on base of diagnoses of spherical mobile robot.
     第二章 通过对全方位球形机器人原理的分析,确定了本文的设计日标,且在此基础上研究设计了三个可行方案,通过对各个设计方案进行分析比较和评价,确立了一种全方位球形机器人机械结构和控制系统方案。
短句来源
     2. To form kinematics model and dynamics model by researches of its work mechanism with coordinate transform and Lagrange method, moreover to design a kind of full-orientation spherical mobile robot with better movement placidity.
     第三章 依据方案,通过坐标变换和利用拉格朗日方法对全方位球形机器人进行分析研究,分别构建了运动学模型和动力学模型。 并在此基础上研究设计了全方位球形机器人的机械系统。
短句来源
     3. To establish math model of control system and design computer control system of full-orientation spherical mobile robot by researches of its movement balance system and path programming.
     第四章 通过对全方位球形机器人运动平衡系统和运动路径规划的研究,构建了控制系统的数学模型,研究设计了全方位球形机器人计算机控制系统。
短句来源
     The spherical mobile robot in this paper is a new type mobile robot, which is a nonholonomic system.
     本文中的球形机器人是一种新型行走机器人,属于非完整欠驱动系统。
短句来源
  “球形机器人”译为未确定词的双语例句
     Design and analysis of a spherical omnidirectional rolling robot with a stable platform
     一种具有稳定平台可全向滚动的球形机器人设计与分析
短句来源
     the software of the robot is designed combining with the RTOSμC/OS-II and the monitor system software is designed using LabVIEW.
     结合μC/OS-II嵌入式实时操作系统,编制了下位机软件; 详细描述了球形机器人监控软件的系统设计,并运用LabVIEW编制了相应的软件。
短句来源
     It moves ahead by two motors ,which are attached to the shell, driving the corresponding screw transmission mechanism respectively, and turns by changing the position of the barycenter.
     该球形机器人由两个电机驱动两组螺旋传动机构带动球壳滚动实现直线运动,并通过改变球内部分的重心位置来实现转弯。
短句来源
     Research on Spherical Omnidirectional Rolling Robots with Stable Platform
     具有稳定平台的全向滚动球形机器人研究
短句来源
     The problem that ADAMS could not simulate a spherical shell rolling on a plane because ADAMS could not provide the constraint between them wassettled through the model transformation of the virtual prototype presented.
     通过对球形机器人虚拟样机模型的转化,解决了ADAMS软件不支持球壳与平面间的约束,无法模拟球壳在平面上滚动的问题。
短句来源
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  spherical robot
In this paper, we present our findings on these topics obtained from a project involving a spherical robot that acquires information regarding natural touch from analysing sensory patterns over-time to characterize the information.
      


The paper deals with a spherical mobile robot, which is a nonholonomic system. It has two motors used as the inside driving units. Omnidirectional movements, including rotation and the ability of climbing, are possible through changing the position of a weight. It can be used in various fields for its outstanding flexibility. The design and the mathematical models on kinematics are developed in this paper.

本文中的球形机器人是一种非完整系统,它利用两个电机作为动力输入,通过改变配重重心的位置实现了球形机器人沿任意方向的运动,包括原地的自转,并且具有一定的爬坡能力。由于其具有特殊的灵活性,它可以应用于各种不同的场合。本文简要介绍了该球形机器人的机械设计原理和相关的基本运动原理分析。

Anewtype of mobile spherical robots , which are based on a nonholonomic systemand takes twomotors as impetus sources , was developed. The developed spherical robot has only two input parameters while asphere rolling on a plane has three degrees of freedom,thus the spherical robot is under actuated. When its IDU(inside drive unit) changes the position of the barycenter of weights by uses two motors as impetus ,it can realizeany omnidirectional movement and moveina arbitrary direction withzeroturningradius .The...

Anewtype of mobile spherical robots , which are based on a nonholonomic systemand takes twomotors as impetus sources , was developed. The developed spherical robot has only two input parameters while asphere rolling on a plane has three degrees of freedom,thus the spherical robot is under actuated. When its IDU(inside drive unit) changes the position of the barycenter of weights by uses two motors as impetus ,it can realizeany omnidirectional movement and moveina arbitrary direction withzeroturningradius .The under-actuated designscan makethe structure simpler while makingthe physical layout more complicated.The omnidirectional movement ofthe spherical robot varies with different positions and inclinations between the long axis and the vertical line .Thearchitectural feature of this robot were analyzed.Preliminary analysis and research was made on spherical robot ki-nematics and dynamics by using nonholonomic systemdynamics ,and based onthe concerned knowledge suchas Eu-lerian angle andthree-dimensional rotation-group.

介绍一种新型二驱动球形机器人,它使用两个电机作为输入,而球形机器人在平面运动具有三个自由度,所以属于非完整欠驱动系统.内驱动机构通过改变配重重心的位置实现了球形机器人沿任意方向的运动,且球形机器人的位姿影响了球形机器人沿不同方向运动的灵活性.阐述了它的结构特点,利用非完整系统力学理论对球形机器人运动学、动力学进行了初步分析.采用欧拉角和三维转动群知识对球形机器人的全方位运动学特性进行了分析.

The spherical mobile robot in this paper is a new type mobile robot, which is a nonholonomic system. It has two motors used as the inside driving units. Omnidirectional movements are possible through changing the position of a weight. The design and the mathematical models on kinematics are developed in this paper.

本文中的球形机器人是一种新型行走机器人,属于非完整欠驱动系统。它利用两个电机作为动力输入,通过改变配重重心的位置实现了球形机器人沿任意方向的运动。由于已有的研究结果无法使球形机器人的运动控制按照一个系统的运算法则运行,所以本文规划了多种球形机器人的基本运动轨迹。从理论上计算球形机器人按照规划轨迹运动的反解和控制方法,为球形机器人的实验提供了理论依据。

 
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