雅可比矩阵

基于模糊自适应Kalman滤波的机械手动态图像雅可比矩阵辨识

Dynamic image Jacobian matrix identification for robotic manipulator based on fuzzy adaptive Kalman filtering

最后利用ADAMS软件对雅可比矩阵进行了分析验证，证明了雅可比矩阵的正确性。

The Jacobian matrix is also validated by ADAMS .

Stewart运动平台的雅可比矩阵条件数的研究

Study on the Condition Number of Jacobian Matrix of Stewart Platforms

基于雅可比矩阵的可逆性，研究了Delta并联机构的正逆运动奇异性问题。

Based on Jacobian matrix , the forward and inverse kinematic singular configuration of the Delta parallel micromanipulator is also studied .

采用雅可比矩阵的F范数分析了外科手术机器人的可操作性，其结果具有更广泛的适用性。

Using the F-norm of the Jacobian matrix , the manipulability of the slave manipulator is analyzed , which has wider application .

通过矩阵求逆计算纵向成层地层中的Green函数并同时得到雅可比矩阵的元素，加快了计算速度。

Green functions and the elements of Jacobian matrix in longitudinally stratified formation are calculated by inversing matrix , which can improve the speed of the inversion of the electromagnetic field .

含SVC和TCSC电力系统小干扰电压稳定性的雅可比矩阵行列式符号比较法

Small-signal Voltage Stability Analysis in Power System with SVC and TCSC by Comparing Two Determinants of Jacobian Matrices

电力系统潮流计算中，对潮流雅可比矩阵进行预处理（preconditioning）的改进算法能提高算法的收敛性并能加快迭代收敛的速度；其中，预处理矩阵的选择是关键。

The improved algorithm preconditioning jacobian matrix can improve convergence and quicken its speed , inside of which the choice of preconditioning matrix is most important .

以双自由飞行空间机器人协调操作系统的广义雅可比矩阵为基础，采用分解速度、计算力矩的方法结合PI控制方法完成系统的动力学协调控制。

Using the Generalized Jacobian Matrix of Two FFSR in coordinated manipulation tasks and resolved motion rate control and the PI method to achieving control of system with the dynamic coordinated operation .

最后一章我们给出了解决流体力学问题的数值方法，内容包括雅可比矩阵特征值和特征向量的计算、通量的分裂及理想气体状态的Euler方程的混合格式。

These include analytical eigenvalues and eigenvectors of the Jacobian matrix , flux splitting and the hybrid scheme for solution of Euler equations using real gas state laws .

对基于Stewart平台的六维力/力矩传感器的雅可比矩阵进行了解析推导，用解析的方式求出它的奇异值。

Jacobian matrix of the six axis force / torque sensor based on a Stewart platform is analyzed , and singular values are obtained by matrix transform .

运用速度传递法导出了SCARA机器人的雅可比矩阵。

Using the velocity transmission method , generalized jacobian matrix of a SCARA robot was present .

将弱环网和PV节点的边界条件嵌入到雅可比矩阵中，并对雅可比矩阵的因子分解进行了详尽的设计。

The robustness is achieved by embedding the boundary conditions of loops and PV buses into the Jacobian matrix . The computational efficiency is achieved by the carefully designed factorization of Jacobian matrix .

对于6-PRRS并联机器人的雅可比矩阵，分别使用了基于符号运算的微分构造法和矢量构造法进行求解，并验证了两种方法的正确性。

The Jacobian matrix of the 6-PRRS parallel robot has been computed by two methods .

文章提出了将补偿法用于线路开断下NR潮流的实施方案，并与重新形成线路开断后雅可比矩阵的牛顿解法在IEEE14、30以及57节点算例系统上进行了数值试验和比较。

This paper presents an approach to combine such a compensation method with NR power flow solution . It has been tested by IEEE 14 , 30 and 57 nodes systems .

重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。

The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed , and the Jacobi matrix of kinematics forward solution was derived .

应用各齐次变换方程连乘的方法求出运动学方程，在此基础上求出机器人手臂运动控制的雅可比矩阵，用蒙特卡洛法代入MATLAB仿真程序分析了机器人假肢的有效工作空间。

Forward kinematics equation was solved using the homogeneous transform equation . Then jacobian matrix about the action of the robot was solved , and the effective work space of the robot had been analyzed with the Monte Carlo law by Matlab emulation program .

在这种算法中，其雅可比矩阵包含了OLTC变比的相关信息，因此用其进行系统电压稳定的静态分析更能反映系统的真实状况。

In this method the Jacobi Matrix have the factor of OLTC 's rate , so using it to analyze voltage stability is better .

通过研究车辆系统常微分方程的一次近似方程的雅可比矩阵的特征值，来确定系统的Hopf分叉值即临界速度。

The Hopf bifurcation point , i. e , the critical velocity of vehicle system can be determined by studying the eigenvalues of jacobi matrix of the first order approximation equations of ordinary differential equations .

基于力雅可比矩阵，运用影响系数法分析了冗余驱动力对UPS分支受力的影响，为冗余驱动改善UPS分支驱动力提供了理论依据。

Based on the force Jacobian matrix , the influence of the redundant actuation to the UPS limbs is studied by means of the influence coefficient method , which provides theoretical basis to improve the mechanical performance of UPS limbs .

本文利用旋转矩阵（R），度量矩阵（H）和雅可比矩阵（J）按矩阵代数导出不同大地坐标系和不同空间直角坐标系的换算公式。

This paper deals with the formulae for transformation between two different geodetic coordinate systems and between two different rectangular space coordinate systems derived in terms of the matrix algebra with rotation ( R ) , metric ( H ) and Jacobian ( J ) matrices .

该方法通过增加一维潮流方程，消除了功率极限点附近的雅可比矩阵奇异的现象，获得精确的电压稳定极限和整支PV曲线。电压下降时同步电动机的动态稳定极限

By using an augment equation , this algorithm can pass the " nose " point and get the whole PV curve without encountering the numerical difficulty of ill conditioning . Dynamic stability limit of synchronous motor during power system voltage drop

分析表明：当Poincare映射的雅可比矩阵有一个特征值从-1处穿越单位圆时，稳定的周期轨道失稳，通过倍化分岔通往混沌。

When the Jacobian matrix of the Poincare map has a eigenvalue passing through the unit circle at ( - 1,0 ), stable periodic orbits become unstable , and chaos occurs via period-doubling bifurcation .

由于MAPLE有很强的符号运算功能，每个刚体的平动速度、平动及旋转的加速度和雅可比矩阵以及对运动方程的线性化可以通过简单的函数来完成。

On the basis of strong symbolic operations in MAPLE , it is easy to obtain the velocity of translation , the acceleration and Jacobi matrix of translation and rotation , and the linearization of the motion equations .

该算法结合了伪牛顿策略，即只有在时步Newton迭代次数较多情况下，才对雅可比矩阵进行更新，否则继续使用之前形成的雅可比矩阵，以达到加速仿真的目的。

The method makes use of dishonest Newton strategy to speed up the simulation . The main idea of dishonest Newton strategy is : update the Jacobian matrix only when the number of Newton iteration is excessive , otherwise , keep the Jacobian constant .

然后利用Poincaré映射对系统动态稳定性进行分析，并将自动微分技术引入Poincaré映射中雅可比矩阵的运算。

Poincar é mapping is employed to analyze the dynamic stability of the system , and the automatic differentiation technology is introduced to compute the Jacobian matrix of the Poincar é mapping .

基于电力系统PQ节点可控性理论，提出了一种降阶的雅可比矩阵，并在单恒定功率负荷－∞系统上进行了论证，在多机系统上进行了计算，结果表明此模型是可靠的。

The paper proposes a reduced Jacobi matrix based on the theory of the PQ node controllability . t is verified at a single constant power load-infinite system , the result shows that the model is reliable .

建立了基于Delta和3-RRR复合结构的双并联式主手平动与转动独立的运动学模型，并推导出各自的雅可比矩阵，给出了局部灵巧度和全局灵巧度的计算方法。

Independent translational and rotational kinematic models of a Delta and 3-RRR mechanism based double parallel haptic device were established and the corresponding Jacobean matrixes were derived respectively . Calculation methods of local dexterity and global dexterity were presented .

经过仿真计算分析，指出根据P-V曲线拐点或常规潮流雅可比矩阵的奇异性来判断系统的电压稳定性，则所得的结果既可能保守，也可能冒进。

According to simulation and analysis , static voltage stability could be estimated to be either conservative or rash based on the flex point of p-v curve and the oddity of Jacobin comparable matrix .

其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；

Secondly , based on the further research of the kinematics of five DOF manipulator , kinematics model is made with the method of D-H , joint velocity and Jacobian matrix are also carried out .