When two-arm robot is equipped with force sensor, the effective stiffness of the end - effector play an important role in the system stability.

当机器人双手装上力传感器之后，机械手末端组合刚度对系统稳定性影响较大。

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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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"I still got a long way to go, " said the New York City computer network specialist who had a stroke two days before his 40th birthday. "The robot really put a lot of muscle tone back in my arm.

这名纽约市电脑网络专家在他40岁生日的前两天中风了，他说：“我仍然有很长的路要走，机器人的确使我手臂肌肉的张力恢复了很多。”

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