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,各关节的

逆解唯一,计算简单,
算量小,特
是对于具有多冗馀度的机器人,
法
够避免奇异解的讨论,提高计算效率。
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科 A bulldozer is a powerful vehicle with a caterpillar track on it, so it means that the wheels act kind of in a long caterpillar-like tread, and those treads move in a long circular motion rather than just in a circular motion.
推土机是一种装有履带的强大车辆,这意味着其轮子作用类似于长
形的履带式履带,这些履带进行的是长周期的圆周运动, 而非简单的圆周运动。
理学篇 
中的科学