Give a full discussion on the features of Image Jacobian matrix and its use in uncalibrated visual servoing system.
从图像雅可比矩阵的定义和表达式出发，讨论了其性质及其在构建机器人图像反馈控制中的作用。
Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot`s structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot`s kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space. We analyse the work range of the robot by resorting to graphic means.
首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。
According to the Jacobian matrix of mechanism, the singularity of the mechanism was analyzed.
又根据机构的雅克比矩阵，对机构的奇异位形进行了分析。
D resistivity inversion of a vertical line source of current and a method of constructing Jacobian matrix are introduced in this paper.
本文叙述了相应的反演理论和偏导数计算方法。
Thirdly, kinematics equations of the robot are set up using coordinate transform matrix, forward-inverse kinematics solution and Jacobian matrix are given.
再次，通过齐次坐标变换矩阵，建立了所选方案的运动学方程式，给出了运动学正逆解和雅可比矩阵。
Jacobian matrix is one of the important parameters of robots.
雅可比矩阵是描述机器人特征的重要参数之一。
Then, the mothed of forming the Jacobian matrix under multitone excite is dicussed.
讨论了多频率激励微波非线性电路分析时构造Jacobian矩阵的方法。
First of all, D-H matrix is used to construct a kinematics model and a geometric parameter identification model for the robot, singular value decomposition for Jacobian matrix is given, and elementary row operations are applied to the last 5 rows of the matrix to find the geometric parameters to be compensated.
首先，使用D-H矩阵对机器人建立了运动学模型和几何参数识别模型，对雅可比矩阵进行奇异值分解并对分解后的正交阵的最后5行进行初等行变换，以确定需要补偿的几何参数。
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 comp
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。
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。
According to the measured value s 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。
Firstly, the eigen vector matrix and eigen value of Jacobian matrix of governing equations for the real gas flows in general curvilinear coordinate system are deduced. And a numerical method with high resolution TVD schemes for solving the governing equations of real gas flows is developed.
首先对真实气体流动的数值模拟方法进行了研究，推导了任意曲线坐标系下真实气体流动控制方程雅克比系数矩阵的特征向量矩阵和特征值；以此为基础，构造了求解真实气体流动控制方程的高分辨率TVD数值格式。
The only two structural parameters of the manipulator were illustrated and the inverse displacement analysis as well as Jacobian matrix was proposed using analytical method. Based on the inverse displacement the reachable workspace and dexterous workspace were obtained by numerical solution.
建立了3-PCN并联机构的位置逆解模型和雅可比矩阵，并给出了基于位置逆解的可达工作空间和灵活工作空间的数值搜索方法。
A dynamical system was derived, in which the equilibrium point corresponded to temporary minimum. And the Jacobian matrix of this system was established by linearizing the system around equilibrium point. It is proved that Jacobian matrix is indefinite matrix, so Jacobian matrix has opposite sign eigenvalues.
并以临时极小点为平衡点建立了动力学模型，在平衡点附近线性化后得到了系统的Jacobian矩阵，证明了Jacobian矩阵一定是不定矩阵，因此Jacobian矩阵有符号相异的特征值，系统的平衡点即临时极小点为鞍点。
Analyzing the kinematics problem of the YJP-1 vision-servo redundant robot, the kinematics equation of the single arm has been established, the Jacobian matrix of front four joint has been formed using a new method.
对YJP-1型冗余度机器人进行了运动学分析。用D-H方法建立了YJP-1型冗余度机器人单臂的运动学方程。运用一种新的方法建立了YJP-1型机器人前面四个决定末端抓手位置的自由度的Jacobian矩阵。
UKF requires no analytic derivation of Jacobian matrix or Hessians matrix as in the EKF.
UKF不需要如二次滤波方程计算Jacobian矩阵或Hessians矩阵，且运算方式和EKF相同。
This program for the power flow calculation of the Jacobian matrix program, but also the core of the power flow calculation.
详细说明：此程序为潮流计算中的雅克比矩阵程序，也是潮流计算的核心部分。
The approach uses both load flow Jacobian determinant criteria and S matrix method to judge small disturbance voltage stability, so that the possibility of occurring oscillatory instability is considered.
该算法兼顾了计算的快速性和有效性；兼用本文提出的潮流雅可比矩阵行列式的判据和S矩阵法，从而考虑了系统先发生振荡电压失稳的可能性。
In order to locate direct singular positions, we begin by expressing the determinant of the Jacobian matrix Jx in terms of position of the center P of the moving platform. The Z and the Y coordinates of P may be chosen from the workspace, then the determinant of Jx is now a six order polynomial of X, the x coordinate of P. The direct singular positions corresponding to are obtained by solving the polynomial equation, and retaining all real roots in the workspace.
由速度分析的Jacobian矩阵Jx，将其行列式值表示成活动平台中心点P位置的函数，寻找奇异位置的方法是先假设平台高度，再假设工作空间内P点的Y座标，使Jx行列式成为P点X座标的六次方程式，求解方程式并保留在工作空间内之实根。
In this paper, based on the modified Jacobian matrix model, an indictor in frequency domain is presented.
文章利用Laplace变换，提出了一种基于雅可比矩阵修正模型的电压稳定性频域测度。