The directly modifying method and the compensating method . finally , we make use of the matrix principium optimized distribute the tolerance of the dh parameters . in the end , we analysed the scara assembly robot which we designed by programming emulator with the kinematics equation and the above theory , which including several step . first step is analysing and comparing the markedness of every parameter error , which affects the robot precision 結合scara平面關節式裝配機器人設計,編寫了scara平面關節式裝配機器人精度系統分析程序,全面分析了scara平面關節式裝配機器人末端位姿精度:研究了對機器人末端位姿誤差影響最大的誤差因素,總結出機器人誤差分配原則,作出機器人末端位置誤差在工作空間分布規律圖,提出根據機器人末端位置誤差分布規律圖選擇機器人裝配作業點。
On the basis of evolutionary neural network , the recognition model of promoter in eukaryote ' s gene was built using bp algorithms and genetic algorithms . ( 2 ) the designed recognition model is used to program emulator , and trained the model with download data from epd ( eukaryote promoter database ) , then predict unknown data for model , the result indicate the building of recognition model is relatively successful ( 2 )對設計好的識別模型進行了計算機仿真程序設計,利用從epd (真核生物啟動子數據庫)下載的數據對建立好的識別模型進行了訓練,然后用對于模型未知的數據對模型進行了預測,結果表明識別模型的建立是比較成功的。