机械臂动力学与控制的研究外文文献翻译、中英文翻译、外文翻译

哈尔滨理工大学学士学位论文 umobile?manipq?uleft??w (1) ??u???right?manipmanipmanipmanip?acquisition?retract (2) ?wacquisitionq?wretractqmobile

?b?ab(wb?w)??rb?,bw?wb?noise (3) Tbw3b2bb??bamobile?tanh(kmobilea(dtar?dmobilethreshold

) (4)

amanipacuisition?tanh(kmanipa(dtar?dmobilethreshold

)) (5)

9

哈尔滨理工大学学士学位论文 错误！未找到引用源。

manipmobile?tanh(ka(dtar?dthreshold)) (6)

rretract,acquisition?1(1?tanh(krretract(qcurrent?qhome??q))) (7) 2

fmobile?w10

mobilemobiletartarf?wmobilemobileobsobsf

(8)

哈尔滨理工大学学士学位论文 ?,v?uleft???vuright??πdwheel?,v?v?πdwheel?? (9) 2??uright (10) 2

???d?wheelbasedwheelπ

(12)

fmobile,?tar?????mobile,vmobile,vmobileftar(min(ktardtar,vmax)?v) (14) ?v???tarmobile,?tar

sin(?tar??) (13)

mobile,?mobile,?fobs??obs(???i)e,imobile?cobsdobs,i?(???i)2

(15)

e2?i211

哈尔滨理工大学学士学位论文 mobile,v???obs(v?vmin)forv?vmin????0forvmin?v?vmanx,i (16) ?mobile,v????obs(v?vmax,i)forv?vmax,imobile,vfobs,ifmobileobs?f??f???mobile,v????mobile,v? (17) ?f?i?f??obs??obs,i?mobile,?obsmobile,?obs,i

C.Comopetitive Dynamics

mobilemobile?tar?(1?tanh(r,obsgain(12dobs,mindtar

mobile?rlimit))) (18)

12