| 1. | An optimal trajectory planning scheme for manipulators based on control precision
一种考虑控制精度的机器人最优轨迹规划方案 |
| 2. | A motion planning method for visual servo redundant robots based on the vector analysis
基于超冗余度机械臂动力学的时间最优轨迹规划 |
| 3. | Application of genetic and flexible polygon hybrid algorithm in the time - optimal trajectory planning of robot
遗传柔性多面体混合算法在机器人时间最优轨迹规划模型的应用 |
| 4. | This method can provide optimal trajectories in real time for cockpit display and give pilot a useful reference when occurring oei
这样机载计算机只要存储所得到的预测模型,就可以实时计算出在某初始条件下的最优策略和最优轨迹。 |
| 5. | In this paper , shooting methods based on an initial variable guess technique are proposed to solve the tpbvp , and the optimal landing trajectory is obtained
本文利用一种基于初值猜测技术的打靶法求解这个两点边值问题，得到软着陆最优轨迹。 |
| 6. | First , the maximum principle is used to generate an optimal guidance law for lunar landing , and the tpbvp is to be solved as a result of the numerical solution for optimal trajectory
文中首先应用极大值原理设计了最优着陆制导控制律，此时求解最优轨迹变成一个两点边值问题( tpbvp ) 。 |
| 7. | Then above the typical terrain and under the disturbance the terrain following system is simulated . the result shows the flight control system can withstand the disturbance and track the optimal trajectory
在典型地形情况下进行地形跟随仿真，并且为了真实模拟地形跟随，在控制通道加入风扰动，结果表明该飞控系统能够很好的抵抗风扰动，紧紧跟随最优轨迹飞行。 |
| 8. | Then , the minimum - time trajectory planning ( mttp ) for single manipulator is investigated . mttp with dynamic model constrains is presented in detail . then a algorithm of dynamic searching time - optimal trajectory based on phase - plane techniques is proposed and simulated
其次，研究了沿指定路径单臂最优时间轨迹规划，先详细介绍考虑动力学模型的最小时间轨迹精确解法，然后提出了一种基于相平面动态搜索时间近似最优轨迹的方法，并将该算法进行了仿真实验。 |
| 9. | With the structure character of coiling robot , the transformed equations of robot movement is established by using equal - power coordinate transformation . the path scheduling method of robot is deeply researched and then imitates the robot ' s movement path by using b - splint function on the disperse point gotten by scheduling on robot ' s coiling movement path to ensure the robot ' s movement track to be a clean and continuous line . then the track is optimized by dynamic scheduling method
结合绕线机器人的结构特点，利用齐次坐标变换建立起机器人运动变换方程，探讨了机器人路径规划的一般方法，并利用b样条函数对机器人绕线运动路径规划所得的离散路径点进行逼近，以保证机器人运动轨迹是一条光滑连续的曲线，并利用动态规划方法对机器人进行时间最优轨迹规划。 |
| 10. | Due to complicated continuous helicopter models and a wide range of constraints , numerical solutions on a mainframe computer have to take a long time . for a given set of initial helicopter states and flight parameters , optimal solutions are fitted by a fourier series . the coefficients of the fourier approximations are then interpolated as functions built by three - layer bp network with inputs of initial flight states and parameters
最后,由于直升机数学模型的复杂性,这给实时优化计算带来很大困难,本文研究了地面计算机计算的最优轨迹如何在机载计算机上实时显示,对飞行员的操纵提供参考,即把不同初始条件得到的最优轨迹曲线进行傅立叶部分级数化,得到傅立叶系数,选取合适初始条件作为变量,对这些最优轨迹曲线进行拟和,建立bp神经网络预测模型。 |
