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<div class="bm_haa cl"> <div class="bm_h cl"> <a href="http://www.oecr.com/portal.php?mod=rss&catid=63" class="y xi2 rss" target="_blank" title="RSS">订阅</a><h1 class="xs2">文章</h1> </div></div> <div class="kjkjb"> <div class="bm vw" style="margin-bottom:0;"> <div class="h hm"> <div class="zxtoux"><img src="http://www.oecr.com/uc_server/avatar.php?uid=54876&size=small" /></div> <h1 class="ph">拉格朗日方程 斯坦福大学公开课：机器人学 12 </h1> <p class="xg1"> 时间：2015-7-19 01:13<a class="zz" href="home.php?mod=space&uid=54876">作者：update</a> 阅读<em id="_viewnum">(3855)</em> 评论: <a href="http://www.oecr.com/portal.php?mod=comment&id=3502&idtype=aid" title="查看全部评论"><em id="_commentnum">5</em></a></p> <div class="zxfb" ><a href="http://www.oecr.com/portal.php?mod=rss&catid=63" class="y xi2 rss" target="_blank" title="RSS">订阅</a></div> </div> <!--[diy=diysummarytop]--><div id="diysummarytop" class="area"></div><!--[/diy]--> <div class="s"> <div class="ss"><div><span>导读： </span>机器人学12课在开始的视频片段介绍了一种有攀爬能力的空间探测机器人，展示了机器人在地形规则和不规则的地方的运动情况。 本节课的主要内容就是完成动力学部分的讲解（动力学与控制）。首先教授讲解了一下拉格朗日 ...</div> </div> <!--[diy=diysummarybottom]--><div id="diysummarybottom" class="area"></div><!--[/diy]--> <div class="d"> <!--[diy=diycontenttop]--><div id="diycontenttop" class="area"></div><!--[/diy]--> <table cellpadding="0" cellspacing="0" class="vwtb"><tr><td id="article_content"><span id="swf_C18"></span><script type="text/javascript" reload="1">$('swf_C18').innerHTML=AC_FL_RunContent('width', '520', 'height', '390', 'allowNetworking', 'internal', 'allowScriptAccess', 'never', 'src', encodeURI('http://swf.ws.126.net/openplayer/v02/-0-2_M6TN5NEEU_M6TN7TCHM-vimg1_ws_126_net//image/snapshot_movie/2011/3/R/B/M6TN7TARB-1421720937445.swf'), 'quality', 'high', 'bgcolor', '#ffffff', 'wmode', 'transparent', 'allowfullscreen', 'true');</script><div><br></div><div>机器人学12课在开始的视频片段介绍了一种有攀爬能力的空间探测机器人，展示了机器人在地形规则和不规则的地方的运动情况。 本节课的主要内容就是完成动力学部分的讲解（动力学与控制）。首先教授讲解了一下拉格朗日方程、运动方程和动能方面的知识。接着来求解多体铰接系统的动力方程式。在已知D-H参数的前提下，就可以利用上面讲的公式计算质量矩阵了。简单分析了一下质量矩阵后，教授通过几个基本的例子进行具体讲解（其中涉及到克里斯托弗尔符号，对重力问题的应对方法等）。</div></td></tr></table> <!--[diy=diycontentbottom]--><div id="diycontentbottom" class="area"></div><!--[/diy]--> <script src="data/cache/home.js?eOg" type="text/javascript"></script> <div id="click_div"><table cellpadding="0" cellspacing="0" class="atd"> <tr><td> <a href="http://club.oecr.com/home.php?mod=spacecp&ac=click&op=add&clickid=1&idtype=aid&id=3502&hash=0ec1d1f70085990dc17c8c0e91b7d8c3&handlekey=clickhandle" id="click_aid_3502_1" onclick="showWindow(this.id, this.href);doane(event);"> <img src="static/image/click/jidan.gif" alt="" /><br />鸡蛋</a> </td> <td> <a href="http://club.oecr.com/home.php?mod=spacecp&ac=click&op=add&clickid=2&idtype=aid&id=3502&hash=0ec1d1f70085990dc17c8c0e91b7d8c3&handlekey=clickhandle" id="click_aid_3502_2" onclick="showWindow(this.id, this.href);doane(event);"> <img 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</dl><a name="comment_anchor_1243"></a> <dl id="comment_1243_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(1243, '3502');">引用</a> </span> <a href="http://club.oecr.com/space-uid-32841.html" class="xi2 xw1" c="1">bestlover8</a> <span class="xg1 xw0">2015-7-26 15:41</span> </dt> <dd>看起来不错</dd> </dl><a name="comment_anchor_1188"></a> <dl id="comment_1188_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(1188, '3502');">引用</a> </span> <a href="http://club.oecr.com/space-uid-87261.html" class="xi2 xw1" c="1">dazuiwe</a> <span class="xg1 xw0">2015-7-25 12:40</span> </dt> <dd>不错的内容</dd> </dl><a name="comment_anchor_1032"></a> <dl id="comment_1032_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(1032, '3502');">引用</a> </span> <a href="http://club.oecr.com/space-uid-87811.html" class="xi2 xw1" c="1">lan139</a> <span class="xg1 xw0">2015-7-22 08:06</span> </dt> <dd>发发呆，回回帖，工作结束~</dd> </dl><a name="comment_anchor_999"></a> <dl id="comment_999_li" class="ptm pbm bbda cl"> <dt class="mbm"> <span class="y xw0 xi2"> <a href="javascript:;" onclick="portal_comment_requote(999, '3502');">引用</a> </span> <a href="http://club.oecr.com/space-uid-43945.html" class="xi2 xw1" c="1">GG_009</a> <span class="xg1 xw0">2015-7-21 15:35</span> </dt> <dd>评论下。</dd> </dl></div> </div> <!--[diy=diycontentcomment]--><div id="diycontentcomment" class="area"></div><!--[/diy]--> </div> <div class="sd pph"> <div class="drag"> <!--[diy=diyrighttop]--><div id="diyrighttop" class="area"><div id="frameRe1gON" class="cl_frame_bm frame move-span cl frame-1"><div class="frame-title title"><span class="titletext">推荐学习内容</span></div><div id="frameRe1gON_left" class="column frame-1-c"><div id="frameRe1gON_left_temp" class="move-span temp"></div><div 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