A blind joint angle and delay estimation method based on trilinear alternating least square technique in uniform circular array ( tals - cjade ) is also presented in section 3 , and a blind joint angle and delay estimation method based on complex parallel factor in uniform circular array ( comfac - cjade ) is given to improve the tals - cjade convergence performance 传统联合角度和时延估计方法在过载情况下(用户数大于阵元数)不能正确估计。与传统联合角度和时延估计方法相比, tals - ljade和tals - cjade算法具有较好doa和时延的联合估计性能,且在过载情况下仍有较好的性能。
In chapter 3 , the control object of this subject , which is a three - link gymnastic robot on horizontal bar with limited joint torque and joint angle is brought forward and its mathematic model is developed . after simulating of the movement of the gymnasts , the control task of this subject is designed as a series swing - up and balance movement , the key point of control is analyzed 第三章，提出本课题研究的对象：关节力矩和旋转角度受限的三连杆单杠体操机器人，推导了它的数学模型；提出要完成的控制任务：模仿体操运动员上杠动作而设计的摆起倒立动作，分析了这套动作的控制关键。
On the basis of discussing the possible aristhemetic for kineticscs indexes in motive video analysis , it was suggested that arithmetics of different quotient of center should be used in calculating the speed and accelerated speed , and the joint angle and segment angle , space angle and projection anagle should be ( differentiated ) so that the indexes could be more comparable 对运动影像拍摄与解析系统中运动学指标的可能算法进行了讨论,建议在计算(角)速度、 (角)加速度等运动学指标时应当尽可能地运用中心差商的算法,在使用运动学指标时应当正确区分关节角和环节角、空间角与投影角两组概念和算法的不同,以使各种不同的解析系统计算出的运动学指标更具有可比性。
This method took the robot actual poses and corresponding joint errors as inputs and outputs of a feed - forward neural network respectively , so as to achieve the real - time joint errors in arbitrary pose through the neural network , and pose accuracy was improved only through correcting the joints angles 这种标定方法把机器人实际位姿和相应的关节角误差分别作为前馈神经网络的输入和输出来训练网络，从而获得机器人任意位姿时的关节角误差值，通过修改关节值来提高机器人的位姿精度。
After the obtain of pid parameter and robot ’ s expected joint angle trajectories , tms320lf2407 and mcs1210 programs are compiled in cc ’ c2000 and keil uversion2 environments separately , can and sci communication agreements are established , pc control interface is made by using java , all of which have realized the software part of the control system 然后,在得到电机pid整定参数和机器人预期的关节角度仿真轨迹后,分别在cc ’ c2000和keiluversion2环境下编写了tms320lf2407和mcs1210的运行程序,制定了can和sci通讯协议,并利用java制作了上位机控制界面,从而实现了机器人的软件控制。
