外文翻译，具有动态特性约束的高速灵活的机器人优化设计.pdf

65. 2, 2551997 0 1997 6)002697 F . . 6531, 1 995) is of by in of of of is of on It is a by An on is by To a is a by 0 1997 1. he it to be of on in is by To be in of by on 11, of 2, 3,4. In it is of to be in is he is in is no is in an is in it a In of is to 5of is a to In is of a 8 In a of is of of as of as of is by is by 111. To a is by 2. n of a is as a of of k of is to of to of of of 255 2% S. . is as in of 5 2 To in 4, 5), 7” I” in 1=I ,=I to g,(x, t) 0 P, r = 1, 2, 3 j = 1, . , Y:; = $, + $;,& (1) q=l,., n, s=l,., 12 (7a) of of x is 8&+&,4!: p,r= 1,2,3 V of , is of In q= l,., m s= l,., 12, (7b) is ” is n, is to of m is of of in a of a be in a to a ” of k in a do of be as of is by f 2 mk of k=,=, i q, of a , be (7 7i,j$ j$,j$, 84 M; = f 2 m&, k=,i=l ?“I et s 12 to of +F”+F, (3) + &a + !;,Y;X: + &L.8) y = d is of is of , Q as UI s p”& d V :L$,. = s pkc#&$:; v!- F”=- O I Q!, = ,$, 4 6) + (/?&b;:, + u;&) &,b;:,. (9b) r f to he of by K is a a _ to of z,u= 1,2,3; s,v= l,., 12 is of of By = $?A& + & = $!&,& + $&,&, be 51 i to by of by of of in by , in of a is as of in It be in of of k k in in be to of is a in of A or is 3. he of is , of in of to be C x N, a of is in an An to of C to of of t is to by 3 as g,(x) = - i (10) .=I x) = gj(x, t”) c is a g, g,“). It be a 4 gj is g,n), of c, g,). as j(X) = x)l. (11) In gj a as it to In at of at by In as is by l I is on df/, M = 1, . . . , by in 4. is 1. A is in is to an 0, = 120”, 19 = - 150) to a 0, = 60”, - 30”) a is x =g T 2 E T t - x of T, is to .5 s. is of .6 m is by &, k = 1, 2; i = 1,2 of as of is to = 72 p = 2700 kg is by 1. A 2.0 t t 18.0 f 5 10 15 20 25 30 35 of 2. 258 S. . . 12 22 N) (4 9 9 8 of is at a kg of is 5i=l,.,n, 6 m, at n, of at 6 is of of in x y of 0 mm In by by In of c It of c in as A of c = 50 a It be be of c to if on On in of . 2. by CC of It is .5 t w 3. at of at in 0.6 s P $ 4. in 59 at of at 3. is 4. 5. n a of to of of by on as It of a in is in of by A of in . W. H. . T. . 3. 4. 5. 6. I. a. 9. 11. 12. of in 32, 4331989). E. J. . S. of 5, 3562 (1978). G. . by a 1137 (1979). R. T. 2. . P. 1990). D. A. . S. of 36, 1191990). M. H. . of 2, 2531994). J. H. . of . 16, 3441994). A. A. 1989). S. S. .