内微分 meaning in English
interior differentiation
Examples
- It is further extension of impulsive system . when the system in different time periods is the same , it becomes impulsive differential system . so the results in this paper also hold for impulsive differential systems
脉冲混合微分系统是脉冲微分系统的推广，当不同时间段内微分系统相同时就简化成为脉冲微分系统，因而本文所得到的结果也适用于脉冲微分系统。 - The impulsive hybrid differential system studied in this paper is a special but important case of impulsive differential systems with variable structure , its characteristic is that its equations in different time periods may be different and the equation in the latter depends on the former
本文所讨论的脉冲混合微分系统是一类特殊的但很重要的具有可变结构的脉冲微分系统，它的特点就是不同时间段内微分系统可以不同，并且后一时间段的系统依赖于前一时间段。 - In chapter 2 , author points out firstly that the elastic deformation of elastic units of a robot ' s wrist force sensor will be enlarged by the end - effector , the instruments and the work pieces , so the elastic deformation of the sensor will influence the location accuracy or kinetic accuracy of end point of a robot , under the condition of that the robot technology facing the developing of heavy load , light mass and high accuracy . it is discussed respectively that the relationship between the differential kinemics in the sensor ' s coordinate and the location accuracy or kinetic accuracy of the end point . error matrixes of location and kinemics of the end point are presented respectively based on the differential kinemics in the sensor ' s coordinate , and the on - line error compensation methods are introduced subsequently
第二章首先指出机器人腕力传感器弹性体的弹性变形经过机器人末端连杆、工具、工件等的放大后，会对机器人末端精确定位和运动产生的影响；然后分别研究了传感器坐标系内的微分运动与机器人末端工件精确定位、运动的关系；在此基础上，研究了基于腕力传感器弹性体微分运动的机器人末端定位、运动误差的误差矩阵及其在线误差补偿方法；基于机器人动力学的机器人末端定位、运动误差的误差矩阵及其在线误差补偿方法；最后，以puma型机器人为对象，给出了基于腕力传感器内微分运动的机器人末端定位、运动误差及其在线补偿方法的仿真实例：给出了基于机器人动力学的机器人末端定位、运动误差及其在线补偿方法的仿真实例；仿真结果表明， 1 )基于腕力传感器的机器人末端定位误差在腕力传感器允许的载荷下可达十分之几毫米级。