Circular cylinder is a basic move along a straight line trajectory can be considered as a collection of the same diameter of the circle, if the horizontal section of film, then it is a straight line.
圆筒是基本的圆沿着直线移动的轨迹，可以考虑为相同直径的圆的集合，如果水平放置节片的话它就是直线。
Finally, the clutch model is verified through an experiment that the end of manipulator runs along a space half circle trajectory in small range, and the advanced compensation methods are proposed.
最后，通过一个半圆圆弧轨迹跟踪试验，验证了在小范围运动的条件下该调速模型的正确性，并为轨迹误差补偿提出了改进方案。
Finally, the clutch model is verified through an experiment that the end of manipulator runs along a space half circle trajectory in small range, and the advanced compensation methods are proposed.
最后，通过一个半圆圆弧轨迹跟踪试验，验证了在小范围运动的条件下该调速模型的正确性，并为轨迹误差补偿提出了改进方案。
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