关节变量 meaning in English
joint variable
Examples
- Based on the establish of d - h coordinate system , chapter five presents the kinematics equation of the robot , then gives the reverse kinematics solution according to the knowledge of robot reverse kinematics . and the close solution of each joint variable is gotten
第五章在对机器人建立了d - h坐标系的基础上，给出了机器人的运动学方程；然后运用机器人逆运动学的知识对puma560进行逆运动学求解，得到各个关节变量的封闭解。 - Computer calculation : taking ellipse as an example and taking matlab as an empolder environment , the maximal driving force ( torque ) and each joint variable , variable ' s accelerations , coordinate values of exercise point in workpiece coordinate frame and the distance of this point from base coordinate frame can all be calculated . finally each joint variable in finishing work are calculated
计算机求值：以椭球为例，以matlab语言为开发环境进行动力学求值，计算得到各关节处应施加的最大驱动力(力矩)及该值下的各关节变量、变量加速度、加工点在工件坐标系中的坐标及加工点距基坐标系原点的距离等值。 - Numeric - symbolic technique is introduced in the procedure of resultant elimination , procedure of number - spobol manipulation is transformed into that of matrix manipulation . because joini variables are treated as symbols and all structure paramcters are treated as real nuxnbers , the complexity of derivation for input - output equaion is reduced . the soluton is verified with a numerical example , its rsults withoot extraneous roots agree with the original equaions
消元过程中引入了数字-符号方法，将结构参数处理为数值量，将关节变量处理为符号量，将数字、符号推导过程转化为了矩阵运算过程，由于结构参数以数值量的形式出现在方程推导中，降低了符号推导的难度，符号推导不需要复杂的符号处理软件的支持。 - Kinematic analysis : by denavit - hartenberg method , space geometry relationship of each pole relative to fixed reference frame can be described with equal index transform , also do space relationship of two adjacent poles with 4x4 equal index . so equivalent equal index transform matrix can be deduced from them . when sportive equations and sportive coordinate frame of workpiece exercise point are set up , the coordinate values of exercise point can be got , the pose and situation of two manipulators are analysed , in the end each joint valiable and its velocity , acceleration are worked o ut
运动学分析：利用denavit ? hartenberg法，用齐次变换描述各个杆件相对于固定参考系的空间几何关系，用一4 4的齐次变换矩阵描述机邻两杆的空间关系，从而推导出等价齐次变换矩阵，建立两机械手运动方程，确定工件作业点随动坐标系，求出作业点坐标，对两机械手的位姿进行解析，求出两机械手的各关节变量及其速度、加速度值。