| 1. | This paper presents a practical optimization method to compensate kinematics parameter errors of medical robot
摘要提出了一种实用的医用机器人运动学参数误差的优化补偿方法。 |
| 2. | And through simulative experiments by pspice , the analysis of the test results for short faults , open faults and transistor parameter errors in cmos and bicmos circuits are given
并通过仿真实验,分析了动态电流检测方法对cmos与bicmos电路中短路故障、开路故障、晶体管参数错误的测试情况。 |
| 3. | And the sensitiveness analysis of optimization results to the kinetic parameter errors is also given . 5 . a dynamic model of catalytic reforming process is described and the dynamics of this process are studied
讨论了机理模型参数误差对优化结果的影响，说明了基于该静态模型的离线优化结果是可靠的。 |
| 4. | With the error model , we deduce a dh parameters error calibrating model based on distance error which avoid the transition between the robot coordinate and the survey coordinate
探讨了运动学参数误差标定、机器人末端位姿误差补偿、运动学参数误差优化分配的方法。其中，着重论述了关节间隙对机器人运动学参数影响。 |
| 5. | In mfi , the thesis uses the bottom reflection phase shift as the cost function and the modal wave number as input data . also , it makes errors analysis by the statistical distribution between data errors and parameter errors . there are some new ideas in it
论文在使用匹配场反演方法反演海底参数中以海底反射相移曲线作为代价函数，模式波数作为输入数据，同时利用统计分布进行误差分析，具有一定的新意。 |
| 6. | The result of the influence of the mismatch of the water parameters for the inverted bottom sound speed and density and the relation of the statistical distribution between data errors and inverted parameters errors are studied by this scheme
在水体声速已知的条件下，论文利用该方法对水体声速剖面参数失配对反演的海底声速和密度的影响结果，以及水体声速误差分布与反演的海底声速和密度误差分布的关系进行了研究。 |
| 7. | Knowing the bottom parameters , the influence of the mismatch of the bottom parameters for the inverted water sound speed and the relationship of the statistical distribution between bottom parameters errors and inverted water sound speed errors are studied using modal wave number tomography scheme
应用简正波波数层析方法，在海底参数已知的条件下，研究了海底参数失配对反演的水体声速的影响，以及海底参数误差分布与反演的水体声速误差分布的关系。 |
| 8. | The subject of this paper is a discussion and analysis for the relationship of different oceanic environmental parameters influencing each other , and relationship of the statistical distribution between data errors and inverted parameters errors by numerical simulation in a representative oceanic environment
论文通过数值模拟方法，讨论和分析了典型海洋环境下，不同的环境参数在反演中相互影响的关系以及数据误差与反演参数误差之间统计分布的关系等问题。 |
| 9. | The directly modifying method and the compensating method . finally , we make use of the matrix principium optimized distribute the tolerance of the dh parameters . in the end , we analysed the scara assembly robot which we designed by programming emulator with the kinematics equation and the above theory , which including several step . first step is analysing and comparing the markedness of every parameter error , which affects the robot precision
结合scara平面关节式装配机器人设计，编写了scara平面关节式装配机器人精度系统分析程序，全面分析了scara平面关节式装配机器人末端位姿精度：研究了对机器人末端位姿误差影响最大的误差因素，总结出机器人误差分配原则，作出机器人末端位置误差在工作空间分布规律图，提出根据机器人末端位置误差分布规律图选择机器人装配作业点。 |
| 10. | The main contributions of this paper are as follows : ? by employing the fuzzy logical system which can approximate any nonlinear continuous function with arbitrary , we synthesize the state feedback robust stabilization controller , the output feedback robust stabilization controller , the nonlinear state observer and the decentralized output tracking controller for a class of complex systems with interconnections , which can ensure the states , state errors , tracking errors and all estimate parameter errors to be uniformly ultimately bounded ( uub ) in all control layouts
本文的主要工作和研究成果如下：利用模糊逻辑系统和自适应思想分析处理复杂互联系统中的不确定性，完成了一类复杂互联系统的状态反馈鲁棒镇定设计、输出反馈鲁棒镇定设计、状态观测器设计和输出跟踪控制器设计，并证明了所设计的鲁棒控制器可保证被控系统的状态、状态误差、跟踪误差及各类参数估计一致终极有界。 |
