对于一个机械臂手端与刚性环境发生光滑接触的类型，本文给出了一种约束描述，并进行分析。
A description and analysis of constraints are given for the ideal case where the end-effector of a single robot manipulator is in contact with rigid environments.
研究了多机械手抓持一刚性物体的协调控制。
In this paper, coordinated control of multiple robot manipulators holding a rigid object is discussed.
刚性需求是今年这波二手房成交热潮中的主导力量，其中购置婚房、购房落户占购房者多数。
Rigid requirements are the leading force in the boom realty market, and many buyers want to purchase the marriage room or get a Hangzhou ID card by buying Hangzhou realty.
第一台机器通过振动盘自动上料，机器之间通过机械手刚性连接自动把前一工位的产品流向下一工位直到摆盘完成，使整个生产线按照同一个节拍时间生产。
Auto feeding by vibration plate for the first machine, coil products are transferred automatically to next station via manipulater until the arranging part is done.
以刚性桩法为基础理论和计算模型、弹性抗力法的计算结果为挠曲修正，首次提出一种既便于手算，又能考虑墙身挠曲变形的墙顶位移修正算法。
This method is easy to use manually as in rigid pile method and takes into account the pile flexibility as in elastic-reaction method as well.
以刚性桩法为基础理论和计算模型、弹性抗力法的计算结果为挠曲修正，首次提出一种既便于手算，又能考虑墙身挠曲变形的墙顶位移修正算法。
This method is easy to use manually as in rigid pile method and takes into account the pile flexibility as in elastic-reaction method as well.
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