In order to accurately analyze the error in the non - orthogonal coordinate measuring system , the circular cylindrical coordinate measuring system is discussed first and the formula of its number of errors is computed , and then it extends to the non - orthogonal coordinate measuring system of n dimensions arms of robots , and build its error compensation modal , which is proved to have high precision 为了正确分析非正交坐标系机械系统的误差情况,本文先以柱坐标系测量系统为例。分析了引起测量系统示值误差的各种机构误差。并且分析得出其误差项数的计算公式,然后推广到n维机器人手臂结构的非正交坐标系机械系统,建立其误差补偿的数学模型。
The expression of the improved boussinesq equations in curvilinear orthogonal coordinate system is derived . on the basis of poission equation conversion , the methods to generate curvilinear orthogonal grids are introduced , and then the two - dimensional numerical wave model under curvilinear orthogonal coordinate system is established 推导了正交曲线坐标系下的改进型boussinesq方程,以poission方程变换为基础,建立拟合正交曲线坐标系下正交曲线网格的生成方法,进而建立正交曲线坐标系下的二维波浪模型,提高了模型对复杂地形的适用性。
An error compensation modal of non - orthogonal coordinate measuring system is built in this paper , in which completely new thought is taken out : using the natural coordinate system combined with the spherical coordinate system to analyze the errors of non - orthogonal coordinates measuring system , in the result , it makes things simpler and not only find out the number of errors and the factors resulted in the errors , but also build the error compensation formula completely , which perfects the study of non - orthogonal coordinate measuring system " s errors 本文建立了非正交坐标系机械系统的误差补偿模型,提出了一种新的建模思想:在使用球坐标系的同时,巧妙结合自然坐标系。从而大大简化了问题的难度,不仅正确地分析出非正交坐标系机械系统的误差项数、各误差项的来源,还成功地建立了误差补偿公式,完善了对于非正交坐标系机械系统误差的研究。
Secondly , the paper theoretically brings forward the systemic configuration of neural network based visual servo system on the orthogonal coordinate robot based on the internet . the neuron network controller is designed instead of normal robot movement controller , because that the robot control is the nonlinear and strong coupling character 从理论上首次提出了基于网络的直角坐标机器人视觉伺服系统结构,针对机器人运动控制的非线性、强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。
I carried my research on both the two computation methods and fruitful results were obtained . for the fdtd method , i solved the instability problem of the method in the non - orthogonal coordinate system . for the pwe method , i introduce the linear transform in to calculate analytically the fourier coefficients of complicated photonic crystals 对于有限时域差分方法,我解决了一个影响这种方法在斜坐标使用的稳定性问题,得到了传统的yee型差分在斜坐标里的扩充;对于平面波展开方法,我引入了线性变化求富里叶展开的系数,这种方法的好处可以很方便快捷的获得复杂光子晶体的富里叶系数。