Angle and velocity of each joint is attained directly and no inverse kinematics and polynomial interpolation are needed 該規(guī)劃方法直接得到機(jī)器人的各關(guān)節(jié)的轉(zhuǎn)角和角速度,無需進(jìn)行運(yùn)動(dòng)學(xué)反解和多項(xiàng)式插值。
The trajectory planning is in the joint space . by simulation of the polynomial interpolation and the parabola interpolation , the former is chosen , which is a part of off - line programming 關(guān)節(jié)空間的軌跡規(guī)劃,選擇多項(xiàng)式插值,通過仿真證明該多項(xiàng)式插值方法比拋物線插值方法更適用于解決該問題,方便機(jī)器人的離線編程。
In order to obtain a high - quality speech codec , the phase information of speech should be included in codec . in this thesis , a method for quantizing the phase of sew ( slowly evolving waveform ) and reconstructing sew ’ s phase with cubic polynomial interpolation is given based on the perceptual weighting analysis - by - synthesis ( a - b - s ) vector quantizer for the phase spectrum in wi coder 本文基于感覺加權(quán)相位譜分析合成( abs - analysis - by - synthesis )矢量量化方法,給出了一種wi編碼器中慢漸變波形( sew - slowlyevolvingwaveform )的相位信息量化及合成端相位的三次多項(xiàng)式插值重建方法。