4 . based on the indices of gait symmetry and the function description method , the symmetry of normal gaits in different conditions was analyzed and the joints angles were fitted 利用对称性指标和函数描述方法对人体下肢在不同条件下的正常步态进行了对称性分析和关节角度的函数拟合并进行了比较。
The thesis considers constraints of limb length , ball joint angle and interference , which mainly analyzes the interference between the limbs and between electrical principal axis and the limbs 几何约束是影响并联机床工作空间的主要因素，本文考虑了杆长约束、球铰最大摆角约束及构件之间的干涉约束。
The invariance of upper limb terminal was shown in the result and the affecting factors were discussed . function synergy among the upper limb joints angles was defined by using the fitting parameter matrix 指出了触点运动中上肢终端轨迹的不变性，探讨了终端轨迹和运动质量的影响因素，定义了上肢关节角度间的功能协调元。
The virtual robot model is built using pro / e and then the model is transferred to adams using m / pro . two representative robot work mode are simulated and the paper gives the joint angle curves and joint velocity curves 用pro / e软件建立机器人的虚拟三维装配模型,利用pro / e和adams之间的无缝连接软件m / pro将pro / e里的模型导入adams软件中。
With boundary conditions different from the conventional method , the dynamic equation is developed , which can be used to find input joint angles or input joint torques for the specified trajectory of the end - effector 通过采用与通常方法不同的边界条件，推导出了给定机器人末端任务求解机器人输入关节角和关节力矩的柔性机器人动力学方程。
A statistic method combining principal component analysis ( pca ) with joint angle plot was proposed to online detect and diagnose fixed or drift bias of temperature and flow rate sensors of air handling unit ( ahu ) 摘要针对空调箱的温度、流量等传感器进行固定偏差和漂移故障的检测与诊断，提出了一种基于统计学的方法进行在线的故障检测和诊断。
According to the measured values of the joint angles and the end - effector positions , jacobian matrix is calculated , and errors between the desired and the measured positions of the end - effector are exported to the least square method to determine the compensation for the dimensional parameters of the robot 通过机器人关节角和末端手爪位置的测量数据，计算雅可比矩阵以及手爪位置理论值和实测值的误差，采用最小二乘法对机器人的尺寸参数进行补偿量的计算。
At last , the article emphasizes on the study of the novel robotics visual serving arithmetic , and validates the adjust estimate of the joint in the practical use . the author analyses the characteristics and the principle of the virtual muscle , based on which form the mathematical relationship model mapping to the joint angle . then the author gets the outputs of the virtual muscle and the 依次分析了虚拟肌肉的特点和原理,并在此基础上建立和关节角映射的数学关系模型;采用模糊控制算法推理虚拟肌肉、关节角的输出,提出用左右图像中的相对位置信息作为模糊控制的输入,并规划了虚拟肌肉的调整策略;文中还进行了结果验证,把软件平台执行过程和实际平台执行过程对比,得出算法有效性的结论。
The very important works by the researchers in the modeling and control for flexible manipulators are introduced ; the equations of the non - holonomic constrain and dynamics are formulated . on the base of dynamic model function derived by the planar two - link flexible manipulator , the model function can be obtained by coordinate transformation ; at last the control scheme based on model of the system is put in to use to insure track desired trajectory of joint angle 在第四章中，首先，我们对柔性机械臂的动力学建模和系统控制问题做了比较全面的介绍；然后，运用lagrange方程并结合假设模态法建立了平面两杆柔性空间机械臂系统的动力学方程。在此基础上，通过坐标变换导出了以可测关节角为控制输出变量的系统控制模型，基于此控制模型提出了柔性空间机械臂关节运动的动力学优化控制方案。
Using human ambulation as the research object , by constructing human geometrical and kinetic model introducing auxiliary joint angle , and combining inbetweening principle with existent approach of motion control , this paper proposed a new method to control human ambulant gesture automatically and flexibly of each period 摘要以人体步行运动为研究对象，通过构适人体几何和运动模型，引入辅助关节角将插中原理与已有运动控制的方法结合起来，提出一种新的方法自动灵活地控制每个周期下的人体步行的姿态。
