简单运动

The main task of this course is to impark the gesture, basic step methods, counter-attack skill, and combined technique and exercise.

其特点是运动量及运动强度小，教学内容简单，以柔和缓慢，修身养性健身项目为主。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，各关节运动学逆解唯，计算简单，运算量小，特别是对于具有多冗馀度机器人，此法能够避免奇异解，提高计算效率。