| 1. | The result demonstrates the advantage of multi - degree of redundancy in improving motion precision
然后，研究在最小变形能意义下的冗余度柔性机器人运动规划问题。 |
| 2. | In the past few years , only the robot manipulators with single - degree of redundancy has been considered
以往的研究大都是针对单冗余度柔性机器人进行的，而涉及到多冗余度的研究还是非常少的。 |
| 3. | Taking advantage of the multi - degree of redundancy , the performance of flexible robot can be improved by programming the self - motion of robot
利用冗余度机器人的冗余特性，可以使柔性机器人的运动精度提高。 |
| 4. | However , the robot manipulators with multi - degree of redundancy have larger redundant space and the optimal solution can be obtained more efficiently
由于多冗余度机器人存在较大的冗余空间，因此更有利于获得最优解。 |
| 5. | In the paper , the motion programming for the flexible robot manipulators with multi - degree of redundancy is studied . based on the dynamic analysis of flexible robot manipulators , two motion planning strategies are presented
本文在多冗余柔性机器人动力学分析的基础上，从两个方面对多冗余度柔性机器人的运动进行规划，充分显示了多冗余度在改善柔性机器人性能方面的优越性。 |
| 6. | Secondly , based on the analysis of strain energy of flexible robot , the motion planning method to minimize strain energy of flexible robot is proposed . for both the flexible robot manipulator with one - degree of redundancy and that with two - degree of redundancy , numerical simulations are carried out
文中以机器人系统的最小变形能为目标，分别对具有一个冗余度的平面三柔性臂机器人和具有两个冗余度的平面四柔性臂机器人进行运动规划。 |
| 7. | The joint motion of robot has been optimized by following methods : pseudoinverse solution , initial joint configuration selecting , self - motion planning , and combination of both the initial joint configuration planning and the self - motion planning . compared with the planar 3r robot which has one - degree of redundancy , the optimal programming of the planar 4r robot which has two - degree of redundancy is carried out
采用最小范数规划法、初始位形规划法、自运动规划法、初始位形和自运动同时规划法，分别对具有一个冗余度的平面三柔性臂机器人和具有两个冗余度的平面四柔性臂机器人进行规划。 |
| 8. | But because of an indeterminate flexible structure with many degree of redundancy , its variant inner force under dead - loading , nonlinear behavior and the correlation between construction method and completed structure , especially incessant conversion of system in construction method , these must bring many complicated change to construction internal force and displacement . these main factors resulting in construction control analysis become more important in the design of cable - stayed bridge
但由于它属于高次超静定的柔性结构，恒载内力状态具有多样性、结构状态呈非线性、施工过程与成桥状态具有相关性，特别是在施工阶段结构体系的不断转换，必然给桥梁结构带来较复杂的内力和位移变化，这些特点使得斜拉桥的施工控制分析成为突出的研究课题。 |
| 9. | For the reason that this method use the arrangement of characteristic light spot directly to avoid the aberrance that come out during calculating in traditional method , it can improve the estimation precision of position and attitude . besides , it provides a certain degree of redundancy to the visual navigation system
由于该算法直接利用特征光点的几何配置条件,避免了传统算法在计算过程中出现畸变的问题,从而提高了位置和姿态角估值的精度,并使月球车的视觉导航系统具有一定的冗余性。 |
| 10. | The result indicates that the scheme to minimize the strain energy is reasonable and yields satisfactory precision of end - point . the result also demonstrates that the flexible robot manipulator with multidegree of redundancy have better behaviour in decreasing elastic deformation than that with single - degree of redundancy
通过分析和比较，说明以最小变形能为目标规划冗余度柔性机器人，能有效地改善机器人的性能，多冗余度在减小柔性机器人变形能上比少冗余度更有优越性。 |
