Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因?yàn)槠咦杂啥葦M人手臂機(jī)器人的建模比較困難欧美巨大黑人精品videos，采用了在等效模型下求解其運(yùn)動(dòng)學(xué)逆解的方法附近人搜的毛片网站，給出了原機(jī)器人機(jī)構(gòu)關(guān)節(jié)角與等效模型關(guān)節(jié)角之間的轉(zhuǎn)換關(guān)系；提出了一種適于數(shù)值計(jì)算的有效的求解有關(guān)節(jié)偏置的冗余度機(jī)器人Jacobian的算法公侵犯人妻中文字幕在线视频，并在此基礎(chǔ)上推導(dǎo)了冗余度機(jī)器人多優(yōu)化性能指標(biāo)函數(shù)的均衡比例因子梯度投影算法亚州AV无码专区在线电影；研究了擬人手臂機(jī)器人的奇異問(wèn)題和關(guān)節(jié)自運(yùn)動(dòng)問(wèn)題；給出了擬人手臂進(jìn)行關(guān)節(jié)自運(yùn)動(dòng)和進(jìn)行直線軌跡跟蹤的仿真實(shí)驗(yàn)結(jié)果H视频在线看一区。

The boundary element method for the Riemann-Hilbert boundary value problems for the generalized analytic function uses Cauchy integral formula as the foundation . The singularity of the Cauchy

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By combining the theory of sectionally holomorphic function, the analytical extending method, Cauchy model integral, the analysis of the singularity of complex functions and Riemann boundary problem, analytic relations between the complex potentials were obtained.

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By combining the theory of sectionally holomorphic function,the analytical extending method,Cauchy model integral,the analysis of the singularity of complex functions and Riemann boundary problem,analytic relations between the complex potentials were obtained.

綜合運(yùn)用復(fù)變函數(shù)分區(qū)全純理論色哟哟影视基地、解析函數(shù)奇性主部分析方法、解析延拓原理人人色网、Cauchy型積分以及Riemann邊值問(wèn)題求解方法456小视频，獲得各復(fù)勢(shì)函數(shù)之間的解析關(guān)系，進(jìn)一步得到了特殊情況下所討論問(wèn)題的封閉解乐播三级黄三区视频免费，并求解出像力隨溫度梯度和位錯(cuò)位置變化的表達(dá)式日韩手机福利写真在线观看。

By combining the theory of sectionally holomorphic function, the analytical extending method, Cauchy model integral, the analysis of the singularity of complex functions and the method for Riemann boundary problem, analytic relations between the complex potentials are obtained.

綜合運(yùn)用復(fù)變函數(shù)分區(qū)全純理論、解析函數(shù)奇性主部分析方法国家aaaa级黄片、解析延拓原理污污色色、Cauchy型積分以及Riemann邊值問(wèn)題求解力法，導(dǎo)出各復(fù)勢(shì)函數(shù)之間的解析關(guān)系亚洲国产高清一区二区三区不卡，進(jìn)一步得到特殊情況下所討論問(wèn)題的封閉解高潮网址，并解出像力隨溫度梯度和位錯(cuò)位置變化的表達(dá)式。

However, due to the oscillation and singularity of the integrand of Green's function and that integral interval is infinite, it is difficult to compute the function and to control the accuracy.

而格林函數(shù)中被積函數(shù)的振蕩性播放很快的你懂的的在线，奇異性和積分區(qū)間為無(wú)窮使得該函數(shù)的計(jì)算較為困難人人上人人肉人人插，精度不易控制。

The wavelet analytic method can find out global and local singularity and singular points of function by local maximum of wavelet transform of Lagrangian function which is made up of two constraint functions without regard for contents of optimization and constraint situation.

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A multiple-step beams model was established to analyze the static stiffness characteristics of the double parallel four-bar mechanism with right angle flexible hinges based on the symmetry of the structure. Formula for calculating the static stiffness was derived by applying singularity function. On the basis of this analysis, the factors influencing the stiffness performance of the double parallel four-bar mechanism were studied from its geometric parameters, and the theoretical model was verified by finite element method.

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In development of these programs under cylindrical coordinates, the singularity at the pole and transfer phenomenon across the pole were studied deeply and a numerical method which has made these programs efficient in 3D function was advanced and employed to eliminate the singularity by setting up a special mesh at the pole on the polar plane.

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The method is to add a term into the original singular kernel while it subtracts its analytical solution from the original equation. Since the singularity of Green's function can be eliminated by such a mathematical technique, shape function does not need to be supposed while solving the unknown. The calculation can be directly applied to the real shape of the object by taking the integral points distributed on the object as nodes that satisfy boundary conditions.

由於格林函數(shù)的奇異性經(jīng)過(guò)數(shù)學(xué)上的技巧加以消除，因此當(dāng)求解未知數(shù)時(shí)已經(jīng)不需要再假設(shè)形狀函數(shù)91人人摸人人干人人操，即可直接使用物體真實(shí)的外型來(lái)做計(jì)算www.slgxq.com，也就是直接將物體上分布的積分點(diǎn)視為滿足邊界條件的節(jié)點(diǎn)。