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。
Finally, we study the PLDP(n, 2) and strongly nilpotent Jacobian matrices, and we prove that if the nilpotency index of JH for a power-linear map H of degree 2 is less than 4, then JH is strongly nilpotent, and consequently the rows of JH are linearly dependent.
此外，我们特别对线性多项式2次幂映射的相关性问题进行了讨论，为此，对强幂零的Jacobi矩阵进行了研究，刻画了Gorni-Zampieri对的幂零指数之间的关系，并证明了Gorni-Zampieri对保持强幂零性。
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。
In this paper, we present a new minimal spectrally arbitrary pattern by using the Nilpotent-Jacobian method.
作者在文中给出了一个新的极小谱任意符号模式。
And so do the development of methods for load flow solution of distribution networks at present, and several algorithms.
对极坐标潮流方程的Jacobian矩阵和收敛性的关系进行了分析和讨论，对目前配电网潮流算法的现状进行了比较，且对几个算法进行了分析、讨论。
According to this planning, a method based on the distance and angle between lines is proposed to estimate the image feature devia- tion, and the image Jacobian and kinematic model of manipulator based on the image feature are defined and built.
以机械手的路径规划为基础，给出基于距离和角度的图像特征差的估计方法，定义并建立基于图像特征差的图像雅可比矩阵以及机械手的运动模型。
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。
Cosidering the fact that the uncertainty of direct-drive manipulator is mostly caused by unknown payload, we give a transformation of robotic dynamics, which consists of two parts, one relating to the manipulator and the other relating to its payload. Based on this transformation, an adaptive controller for the unknown payload is introduced. We point out that the control law can avoid singularity of manipulator if measurements of the manipulator's joint accelerations are available.
考虑到直接驱动机器人的不确定因素主要来源于未知负载这一基本事实，本文得出了一个适合于机器人工作空间控制的本体-负载动力学分离形式，据此提出了一个针对未知负载的自适应控制方案，并指出当加速度可测时，可完全解决工作空间控制时所特有的奇异问题，而当加速度不可测时，采用一个变目标控制方案可以避免奇异点附近的逆Jacobian运算。
On behalf of the original law Jacobian, Seidel SO...
雅可比、塞德尔和SOR迭代法的原理。
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。
Extensive research has been carried out under the hypothesises such as fixed number of constraints in one dynamic system, nondegenerative Jacobian of constraints, ideal and bilateral constraints. If one or more of these hypothesises are violated, inconsistency in state space may appear.
然而，目前有待发展的经典力学理论中有一些假设性的前提，例如约束的数目保持不变，约束的Jacobian非退化，约束是理想的，同时对含单边约束的系统研究甚少。