The controller consists of a linear PD feedback part, a nonlinear adaptive feedback part to compensate for the dynamics of robot and a robust control part to compensate for the uncertainties of model.
该控制器由三部分组成：线性PD反馈项，补偿动力学的自适应控制项，补偿建模不确定性的鲁棒控制项。
Robot dynamics is a complex dynamic system, on the dynamic response of the processing object depending on the robot dynamics model and control algorithm.
机器人动力学是复杂的动力学系统，对处理物体的动态响应取决于机器人动力学模型和控制算法。
These possess important guiding significance to the study of dynamics characteristics of its explosive while the explosive removing robot is moving on the complicated road surfaces.
这对于研究排爆机器人在复杂路面运动时其爆炸物的动力学特性具有重要指导意义。
Abstract: for the robot dynamics is to study the relation between the force and movement and balance of the subject.
摘要：机器人动力学是对机器人机构的力和运动之间关系与平衡进行研究的学科。
Kinetics of robot research dynamics problem and inverse problem of two aspects, the need to adopt strict system method for the analysis of robot dynamics.
机器人动力学主要研究动力学正问题和动力学逆问题两个方面，需要采用严密的系统方法来分析机器人动力学特性。
Thus, the kinematics of free floating space robot is closely connected with its dynamics.
因此，自由漂浮空间机器人的运动学与其动力学是密不可分的。
An analysis of dynamics with changing topology for the humanoid running robot is carried out.
提出了仿人跑步机器人变拓扑结构动力学的分析方法。
Though there are errors during the modeling for the robot dynamics, they can be compensated according to the rule of adjusting weight values.
在机器人动力学方程存在误差的情况下，能通过文中提出的参数调整规则补偿误差。
Regarding the application of robot dynamics, the main break-through was made when computer-aided methods for dynamic modeling were developed (see Chapter 20).
关于机器人动力学的应用程序，主要的突破是当计算机辅助方法用于开发动态建模时（参见第20章）。
To resolve the kinematics modeling and dynamics modeling of a humanoid robot with complicated machine, a modeling method based on the conventional mechanism combined with neural network is presented.
为解决机构复杂的拟人机器人运动学和动力学问题，提出了基于传统机理结合神经网络的建模方法。
The rigid body dynamics model of engraving robot is established based on Newton-Euler method, and dynamics experiment is also analysed with this model.
基于牛顿·欧拉方法建立了雕刻机器人的动力学模型，并利用该模型进行了动力学实验分析。
In the second chapter, the dynamics of free-floating space robot system with dual-arm is established by use of the Lagrange's equation.
在本文的第二章，我们利用第二类拉格朗日方程推导了自由漂浮平面双臂空间机器人系统的动力学方程。
A multirate composite neural controller is presented in this paper for the trajectory tracking control of a flexible-link robot with a partially known nonlinear dynamics.
提出了一种用于动力学都分已知柔性连杆机器人的多速率神经网络自适应混合控制墨。
Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.
基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。
It set up a dynamical model of the robot and analyzed its dynamics, deduced out the relative model between stiffness of flexible hinges and micro moving velocity of the robot.
建立了机器人的动力学模型并对其进行了动力学分析，推导出了柔性铰链刚度与机器人微运动速度关系模型。
This paper mainly focused on the dynamics problem of special robot for hydraulic turbine repair.
文章主要针对水轮机修复专用机器人动力学问题。
The dynamics of flexible robot manipulators and mechanisms is an advanced topic in the research domain of machinery dynamics.
柔性机器人及机构动力学是机械动力学研究领域的前沿课题。
A dynamics model of the robot is used to analyse the driving torque of each joint, and the driving power of motors are decided based on the analysis results.
利用两足步行椅机器人动力学模型，分析了各关节的驱动力矩，以此确定了驱动电机的功率。
This paper discusses the dynamics and control problems of the robot.
本文讨论了该机器人的动力学及控制问题。
Robot visual servo system involves a wide range of content, for example image processing, kinematics, dynamics, control theory, real-time calculation and so on.
实现机器人的视觉伺服系统涉及到图象处理、运动学、动力学、控制理论、实时计算等多方面的内容。
For example, consider a handling robot, with the hand axis mounted on a rotary axis, and where it is necessary to sense the dynamics of the hand movement relative to the higher-level rotary axis.
例如，考虑处理机器人，手轴与旋转轴上安装，并在有需要的感觉手运动的动力相对于更高级别的旋转轴。
Lie groups and Lie algebras were used to study the dynamics and control of robot system with active and passive joints.
采用李群李代数符号描述了含主被动关节机器人的动力学分析和控制问题。
Accurate dynamics model of industrial robot plays a very important role in advanced trajectory tracking control applications.
准确的动力学模型在先进的机器人轨迹跟踪控制中扮演了一个非常重要的角色。
Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repair robot with six degree of freedom, and carry on theory analysis to the robot.
然后利用旋量理论推导了水轮机修复机器人六自由度手臂的动力学方程，并对此专用机器人动力学进行分析。
The dynamics equation of humanoid robot is highly nonlinear and highly coupled, so analyzing the interactive forces between different parts is the basis of advanced control methods.
拟人机器人的动力学具有高度非线性、高度耦合的特点，分析清楚各组成部分之间的交互作用力是实施高级控制方法的基础。
Analyzed kinematics and dynamics of the obstacle negotiations for an articulated mobile robot a restriction condition to guarantee dynamic stability when it gets over the obstacles.
通过对关节式移动机器人越障过程运动学和动力学分析，得出控制移动机器人越障时保证动态稳定性的约束条件。
Dynamics analysis of 6 DOF parallel robot is the basis of deciding hydraulic pressure, actuator effective area, selecting servo valve.
六自由度并联机器人的动力学分析是确定液压源压力、作动器有效工作面积和选择伺服阀规格的基础。
This paper mainly studies the kinematics and dynamics modeling of the obstacle negotiation for an uneven ground six-wheeled-legged autonomous mobile robot and correlative control problem.
本文主要研究非平整地面六轮腿式自主移动机器人的越障运动学、动力学建模与控制的问题。
This paper mainly studies the kinematics and dynamics modeling of the obstacle negotiation for an uneven ground six-wheeled-legged autonomous mobile robot and correlative control problem.
本文主要研究非平整地面六轮腿式自主移动机器人的越障运动学、动力学建模与控制的问题。
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