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ice-skater robot
相关语句
  溜冰机器人
     Study on Coordinated Control of Ice-Skater Robot
     溜冰机器人协调控制研究
短句来源
     Principle of Biped Ice-skater Robot and Its Kinematic Analysis
     双足溜冰机器人运动原理与运动学分析
短句来源
     The Design of Control System of Biped Ice-skater Robot
     双足溜冰机器人控制系统设计
短句来源
     An ice-skater robot of leg-wheeled passive wheel type was designed on the basis of rolling and skating principle.
     利用轮滑原理 ,设计了腿轮混合结构从动轮式溜冰机器人
短句来源
     The principle ,mechanism condition and applicable leg constructions of the Ice-skater robot was discussed based on the rolling motion,it is a kind of passive wheel type robot which simple the constrution of the legs and exibit high terrain adaptability.
     从驱动原理和腿轮结构上来说 ,从动轮式移动机器人 -溜冰机器人同一般轮式机器人有较大不同 ,它简化了轮式机器人腿轮结构 ,增加了轮式机器人灵活性和机动性。
短句来源
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  相似匹配句对
     Ice
     冰
短句来源
     iCE AGE
     冰川时代
短句来源
     ICE-MINUS
     减冰细菌
短句来源
     WAVE-ICE INTERACTION
     海冰与波浪的相互作用
短句来源
     M. More's, Skater's and WBEPM's.
     M. More屏蔽氢离子模型、Slater单电子模型、WBEPM模型的不足。
短句来源
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This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. Based on its principle, the paper discussed the constructions of thigh motion type and calf motion type of the ice skater robot respectively. After founding the coordinate system the paper got the motion differential equation of this robot using generalized Lagrange Routh equation when nonholonomic constraints exist. This paper...

This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. Based on its principle, the paper discussed the constructions of thigh motion type and calf motion type of the ice skater robot respectively. After founding the coordinate system the paper got the motion differential equation of this robot using generalized Lagrange Routh equation when nonholonomic constraints exist. This paper also discussed the pose of robot when it is in every gait and simulated the system motion by EXCEL 97. Lastly, some related conclusions were drawn.

综合轮式和腿式机器人的优点 ,提出基于溜冰原理的从动轮式溜冰机器人概念 .讨论了大腿运动型和小腿运动型溜冰机器人的结构图 .以小腿运动型溜冰机器人为例 ,运用非完整约束存在时的广义 Lagrange- Routh方程推导了机器人直线溜冰时的运动微分方程 ,并讨论了机器人在各步态时的位姿 ,利用 EXCEL97进行了运动仿真

An ice skater robot of leg wheeled type was designed according to the Roller Walker and ALDURO. On the basis of kinematic analysis methods, the paper founded the inertial coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel were created on the assumption that there is no slippage in normal direction and a pure rolling in tangential direction of the wheels. Then, the kinematic model was established and...

An ice skater robot of leg wheeled type was designed according to the Roller Walker and ALDURO. On the basis of kinematic analysis methods, the paper founded the inertial coordinate system and the wheel coordinate system respectively. Meanwhile, the kinematic constraint equations of the standard centered orientable wheel were created on the assumption that there is no slippage in normal direction and a pure rolling in tangential direction of the wheels. Then, the kinematic model was established and the mobility was discussed based on the new concepts of motion characteristic matrix in normal direction and tangential direction. And the motion condition equation of the robot was gotten in sequence. The kinematic state space representation and its corresponding control equation of the ice skater robot were presented. At last, the paper analyzed the kinematics of the ice skater robot when it turns aside or skates straight respectively.

设计了腿轮混合结构的溜冰机器人 .基于常规的运动学分析方法 ,建立了相关的惯性坐标系和滚轮坐标系 ,并根据滚轮在法向无滑动、切向作纯滚动的假设 ,建立了中心定位轮的运动约束方程及机器人的运动学模型 .提出了法向和切向运动特征矩阵的概念 ,并讨论了机器人的移动性问题 ,得出机器人存在运动的条件 .设计了溜冰机器人运动学状态空间表达式和运动学控制方程 .以溜冰机器人为例 ,分析了其转弯和直线滑行时的运动学问题

A new type of leg-wheeled hybrid mobile robot, Ice-skater Robot, was developed based on the rolling and skating principle. Then, such coordinated control methods were disccussed as the model reference control method, the algorithm control method and the finite state control method briefly. And the motions in the normal direction and the tangent direction of the wheels were analyzed and the kinematic equation, the path-based nonholonomic kinematic state space used in the acceleration control were...

A new type of leg-wheeled hybrid mobile robot, Ice-skater Robot, was developed based on the rolling and skating principle. Then, such coordinated control methods were disccussed as the model reference control method, the algorithm control method and the finite state control method briefly. And the motions in the normal direction and the tangent direction of the wheels were analyzed and the kinematic equation, the path-based nonholonomic kinematic state space used in the acceleration control were also obtained. At the same time, the switching functions satisfying the sliding mode reachable condition to realize the coordination of the wheels, the legs and between the wheels and the legs were designed. The experiment verifies the practicability of the coordinated control method based on the nonholonomic kinematic state space and the variable structure control with sliding mode method.

根据轮滑原理设计了腿轮混合结构从动轮式移动机器人———溜冰机器人 .在简要介绍模型基准控制法、算法控制法和有限状态控制法的基础上 ,研究了滚轮的法向和切向运动 ,得出基于运动路径的、无奇异性的非完整运动学状态空间 .同时 ,在考虑控制系统时间延迟的基础上 ,建立了符合滑模可达性条件的机械腿、滚轮和机械腿与滚轮相互协调的切换函数 .实验证实了这种基于非完整运动学状态空间和滑模变结构方法的协调控制策略的可行性 .

 
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