大大降低了计算的复杂程度，减少了冗余信息所造成的识别误差。

That will greatly reduce the calculative complexity and the error, which comes from the data redundancies.

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但是，由于不同极化状态回波信号之间的相关性，极化数据不可避免地产生数据冗余，反而增大了岩性分类的误差。

But meanwhile, the data fusion coming from the coherence of different polarizations in the polarimetric data produces more error for lithological classification.

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首先，研究以减小末端误差为目标的冗余度柔性机器人运动规划问题。

Firstly, the motion programming of robot is presented to reduce the motion error of endpoint.

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