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大学生参与课堂教学是课改后出现的一种新的教学模式。由于种种原因,学生的参与度却不高,大多院校仍袭传统授课模式,导致教学质量没有明显提高。本文经过认真分析,并提出改进对策,可供参考。 相似文献
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大学生参与课堂教学是课改后出现的一种新的教学模式.由于种种原因,学生的参与度却不高,大多院校仍袭传统授课模式,导致教学质量没有明显提高.本文经过认真分析,并提出改进对策,可供参考. 相似文献
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Dynamic model and control strategy of parallel mechanism have always been a problem in robotics research. In this paper, different dynamics formulation methods are discussed first. A model of redundant driven parallel mechanism with a planar parallel manipulator is then constructed as an example. A nonlinear adaptive control method is introduced. Matrix pseudo-inversion is used to get a desired actuator torque from a desired end-effector coordinate while the feedback torque is directly calculated in the actuator space. This treatment avoids forward kinematics computation that is very difficult in a parallel mechanism. Experiments with PID together with the descibed adaptive control strategy were carried out for a planar parallel mechanism. The results show that the proposed adaptive controller outperforms conventional PID methods in tracking desired input at a high speed. 相似文献
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大学生参与课堂教学是课改后出现的一种新的教学模式。由于种种原因,学生的参与度却不高,大多院校仍袭传统授课模式,导致教学质量没有明显提高。本文经过认真分析,并提出改进对策,可供参考。 相似文献
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Dynamic model and control strategy of parallel mechanism have always been a problem in robotics research. In this paper,different dynamics formulation methods are discussed first, A model of redundant driven parallel mechanism with a planar parallel manipulator is then constructed as an example. A nonlinear adaptive control method is introduced. Matrix pseudo-inversion is used to get a desired actuator torque from a desired end-effector coordinate while the feedback torque is directly calculated in the actuator space. This treatment avoids forward kinematics computation that is very difficult in a parallel mechanism. Experiments with PID together with the descibed adaptive control strategy were carried out for a planar parallel mechanism. The results show that the proposed adaptive controller outperforms conventional PID methods in tracking desired input at a high speed, 相似文献
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