Harmonization is the method to ensure population overlap and comparable levels of generalization and aggregation by the removal of duplicate data or overlapping definitions.
协调是通过去掉重复的数据或重叠的定义，确保填充重叠和类似的通用化和聚合级别。
A simple and effect sequence generation method and a group test method were suggested, which can get good harmonization between computation time and precision.
给出了一个简便有效的序列生成方法和组数测试方法，可在计算精度和计算时间上达到较好协调。
In this paper, velocity harmonization and acceleration harmonization of a 2R-1P3R two-arm robot have been studied for special-shaped surface stone with the differential geometry theory and D-H method.
用微分几何理论和D-H法研究了2R-1P3R 双臂机器人用于异形石材加工的速度协调和加速度协调，导出了由工艺给定的切削加工速度求解各关节运动速度和加速度的计算公式。
In this paper, velocity harmonization and acceleration harmonization of a 2R-1P3R two-arm robot have been studied for special-shaped surface stone with the differential geometry theory and D-H method.
用微分几何理论和D-H法研究了2R-1P3R 双臂机器人用于异形石材加工的速度协调和加速度协调，导出了由工艺给定的切削加工速度求解各关节运动速度和加速度的计算公式。
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