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关节电机
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  joint motors
    Design of a power amplifier and its implementation for robot joint motors
    机器人关节电机功率放大器的设计与实现
短句来源
    After the construct of the motion simulation model, genetic algorithm is used to do the adjustment of PID parameters of the control system of the joint motors, integral separation PID control and angle error analysis is finished, and three force/torque sensors, touch sensors, distance sensors and photoelectric switches are calibrated and installed.
    在建立了机器人关节控制系统模型后,使用遗传算法对其关节电机控制系统进行PID参数整定,进行机器人关节的积分分离的PID控制策略和转角误差的理论分析,并进行了机器人三维力/力矩传感器、接触传感器、测距传感器和光电开关的标定与安装。
短句来源
  “关节电机”译为未确定词的双语例句
    But one joint motor can only control one step of vibration mode,it is impossible for joint motor to control the vibration of FRIVI which has many steps of vibration mode .
    以往对柔性机械臂常采用关节电机来抑振,由于一个关节电机只能抑制一阶的振动模态,适当配置观察器的位置至多也只能控制二阶模态,对于多阶模态复合的振动或者机械臂空间运动所致的扭转振动等无法控制。
短句来源
    The main research contents are following:1. Firstly, the research background is introduced in this paper, and universal manipulator is used as object, also the controller design and alteration experiences are introduced. This chapter uses its system structure and joint motor math model and control mode for reference, and presents the math model of single joint finally.
    1.论文首先介绍了研究背景,并以通用机械手为对象,结合PUMA机器人控制器设计和改造经验,借鉴其系统结构和关节电机数学模型和控制方式,给出了机器人单关节数学模型。
短句来源
    In this paper the retortion piezoelectric actuators were used to control vibration with the optimal initiative and PIE) control method in a single-Link FRM system.
    本文提出了用扭转压电振子作为主动抑振的动力源,以代替传统的用关节电机抑振的不足,为此研制了压电式主动关节抑振器,建立了单连杆柔性机械臂实验系统,采用振动抑制最有效的主动控制技术和PID控制算法实施系统的抑振。
短句来源
    The output signal of industrial robotic manipulator controller is correspondence with the torque provided by each joint.
    ·工业机械手控制器的输出信号是与每个关节电机所需提供的转矩相对应的。
短句来源
    execution level controls the movement of each motor with control torques derived from execution level.
    执行层控制每个关节电机的转动,将处理层得出的关节转矩实现。
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  joint motor
Predictions of three models of single-joint motor control were compared with experimental observations of the changes in electromyographic (EMG) patterns during fast voluntary movements against an unexpectedly reduced inertial load.
      
Synaptic linkages between red nucleus cells and limb muscles during a multi-joint motor task
      
Superposition of two single-joint motor programs can lead to a distortion of their simple algebraic summation similar to relativistic Lorenz transformations.
      
Total control forces must require less than the peak torque of a joint motor.
      


Jn this paper, the structure and principle of a spherical motor applied to the industrial robot's joints is discribed, the motional equation and algorithms are proposed and synchronism coordination control rules for the motor motion path of two degrees of freedom are discussed.

本文介绍了所研制的应用于工业机器人的球关节电机结构与原理;给出其运动学方程和求解算法;并按长轴同步原理,以最小运行时间为优化目标,研究了2自由度球电机运动轨迹的同步协调控制规律。

In this paper, the control system for independent joint of the robot manipurators driven direct byDC motor supplied by PWM is developed.The controller with model control construction is implemented bysingle chip computer 8098.These are many advantages to kept up while the system is operated in differentposture of the robot.

本文研究以PWM装置供电的直流电动机驱动的直接驱动机器人单关节控制系统。用8098单片机实现模控制结构控制器,使系统在各种工况下有良好的性能。文[1]研究了机器人单关节电机驱动的控制问题。采用该法可减少受系统参数和负载力矩变化的影响。本文用模控制结构方法来处理问题。理论分析和实验均证明,所用方法具有很强的鲁棒性。系统参数在100倍范围内变化时,系统都有很好的品质。

on the joint motor dynamics of robot arms, an off-line compensating method which is inde pendent of the current robot joint controllers has been developed in this paper. With the method, the dynamic accuracy problem caused by the effects of inertial and gravitational forces and derived directly from the joint control system itself could be successfully eliminated according to the reasonable example on the case of the robot with two degrees of freedom.

从机器人手臂的关节电机力学出发,本文提出了一种独立于现行机器人关节控制器的离线补偿方法.通过对-2自由度机器人的数值研究,证明该法不仅能有效地克服由于惯性负载、关节间耦合与重力效应给控制系统带来的动态精度问题,而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差.

 
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