Based on it, the numerical calculation of inverse solution is proposed.
在此基础上对爬壁机器人的动力学模型的逆解进行了数值仿真研究。
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。
This one-way wave equation fits eikonal equation and transport equation corresponding to full acoustic wave equation in travel-time and first order amplitude. According to the perturbation theory often used in inverse solution, we split the velocity field into intraformational constant velocity background and variable velocity disturbance. Then we calculate time-shift quantity of migration and amplitude correction coefficients for wavefield depth continuation in total uniform formation and each formation.
基于反问题求解中常用的摄动理论，把速度场分裂为层内常速背景和变速扰动，求得整个均匀层波场深度延拓的偏移时移量及振幅校正系数、各层的偏移时移量及振幅校正系数，从而得到一个基于傅里叶有限差分法的双域保幅叠前深度偏移算子方程。
A software package called symbolic robot arm solution tool that symbolically solves the forward and inverse kinematics for n-degree of freedom manipulators has been developed by Herrera-Bendezu et al.
软件包称为象征机器人手臂解决工具表示，象征性地解决前进与运动学n阶自由操控已经制定了埃雷拉-本德苏等。
The paper copolymerizes cationic polyacrylamide by aqueous solution copolymerization copolymerization and inverse emulsion copolymerization, and determines the art of it. On the base of determination, makes experiments on the conditions for copolymerization of cationic polyacrylamide, and attain wastewater`s flocculant with perfect performances.
本文分别用水溶液共聚法和反相乳液聚合法合成了阳离子聚丙烯酰胺，并对合成的工艺条件进行了探索，在此基础上，对阳离子聚丙烯酰胺合成不同的条件进行了应用实验，筛选出了性能较好污水处理剂阳离子聚丙烯酰胺。
This technology gets rid of short comings of the coplymerization in aqueous solution: polymer being stick to reactor and tending to gel, also in inverse suspension, starch difficult to dispense regardless of starch being dextrinized; grafting efficiency very low.
这样一个聚合工艺克服了水溶液聚合法：聚合物粘壁、易成块状，出料困难等缺点；淀粉不易分散，接枝效率极低的缺点。
A kind of new 3P-6SS parallel mechanism was presented. And its inverse kinemics solution was achieved.
提出了一种新型的3P-6SS并联机构，计算了其运动学反解。
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。
Matrix equation is constructed to obtain R, and the existence of R can be predicted by the compatibility of the matrix equation in advan ce. Generalized inverse matrix is applied to achieve the solution of R, as well as the admissible constraint and supervisor.
构造矩阵方程求解R，通过矩阵方程的相容性判断R的存在性，并给出利用广义逆矩阵求解R的算法，得到对应的允许约束和监控器。
The kinematics equation of the 5-DOF finger was built and the redundancy problem of the inverse kinematics solution was resolved by genetic algorithm.
分析建立了五自由度手指的运动学方程，并采用遗传算法解决了该五自由度手指逆运动学中的冗余解问题。
Based on the principle of the inverse solution to the undetermined boundary in complex heat transfer problem, a numerically stepwise approximation method was formed to calculate the erosion boundary values of the lining for blast furnace hearth via the procedure of regular solution-approval-boundary modification-secondary regular solution/approval.
根据复杂结构传热问题中的待定边界逆解原理，针对高炉炉缸测温点较少或无测温点的情况，按照轴对称稳态传热方程，以实测温度和冷却壁热流量为侵蚀边界核定条件，构造了一种正解计算—核定—修改边界—再正解计算核定的逐次逼近的炉缸内衬侵蚀边界数值计算方法。
Secondly, the modules of geometry and robot kinematics modeling, inverse kinematics solution, workcell layout, robotic task design language are studied and briefly described.
其次，介绍了几何建模模块、运动学建模模块、运动学正逆问题的求解以及机器人编程语言TDL等技术问题的研究情况。
Generalized Voigt model was used to simulate the visco-elastic property of soil surrounding pile and the relationship between settlement and time of pile embedded in layered soil was investigated. A corresponding semi-analytical solution was obtained by Laplace transform method and Fourier inverse method.
成层广义voigt体地基中单桩沉降的时间效应研究将成层地基中每一层土对桩的作用简化为广义voigt体模型，由此建立了单桩的静力平衡方程，并求解得到了成层地基中静荷载下单桩桩顶沉降在拉普拉斯变换域的解析解和在时间域的半解析解。
Based on Apell equation, dynamic model of the robot is established and the positive and inverse solution are obtained, the result is proved correct simulated by simulating with Matlab. Acceleration control can benefit from them later. To solve the pose inclination due to the gravity and the wheel skid, based on the enough pressure provided by suction, inclinometer is used as the closed loop.
为解决机器人在壁面上由于重力和车轮打滑等原因引起的姿态倾斜，在保证吸盘能够提供足够压力的基础上，采用倾斜计进行姿态闭环控制，很好地解决了机器人移动精度问题，使机器人在壁面上准确地沿焊缝行走，满足了超声焊缝探伤对机器人移动精度的要求。
Frequently computing an inverse matrix in ASA may lead to overriddencomputational time. Therefore, QR factorization is used to translate the solution of inversematrix into tackling a set of linear equations. Initial interior point for iteration is computedby the big M method.
针对仿射尺度算法过程中频繁计算逆矩阵从而占用较多的计算时间的缺点，采用矩阵的 QR 分解将矩阵求逆转化为对线性方程组的求解，迭代的初始内点采用大 M 法给出。
For the one dimensional inverse heat conduction problem, we employ a new Regularization Method to find its stable solution.
对于其中的一维非标准热传导逆问题，我们采用一个新的正则化策略——缓镇法来求其稳定数值解。
Regarding to this inverse problem, it is solved by the conjugate gradient method for the stable solution and quick convergence.
在反演求解时，使用共轭梯度算法，以保证求解的稳定性，加快解的收敛速度。
Inverse function conversion was conducted for approximate analytical solution of semi infinitive sand column during dispersive test under the condition of one dimensional steady flow and injection of tracer with constant concentration.
文中将描述一维、稳定流场和连续注入定示踪剂浓度条件下的半无限砂柱弥散试验中示踪剂浓度随时空变化的近似解析解进行了反函数变化。
By using homeomorphism method and the extended inverse function theorem, the existence and uniqueness of the solution for the semi-linear pseudoparabolic equations is obtained.
首先在Hilbert空间中建立了强制不等式，利用同胚方法和抽象的反函数定理，得到了半线性伪抛物方程初边值问题解的存在性和惟一性定理。
By virtue of inverse Fourier transform and convolution theorem, a semi-analytical solution for the velocity response of a pile subjected to a semi-sine wave exciting torque is obtained in the time domain.
进一步根据桩土接触面上的位移、应力连续条件，求解了桩身动力平衡方程，在频域内得到了桩顶动力响应的解析解。