基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。
Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.
并用方块图与反馈控制理论导出了这种调速回路速度刚性的数学表达式，估算了由负载引起的速度误差。
By block diagram and feedback-control principles expression is derived for speed-stiffness in the loop and speed error due to load calculated.
该技术类似微悬浮系统，能在不影响侧向刚性的同时吸收路面震动反馈，保障骑行者的踩踏效率稳定。
E. stays are organically shaped to function like a micro-suspension system, absorbing road vibrations without sacrificing the lateral stiffness needed for pedaling efficiency.
该技术类似微悬浮系统，能在不影响侧向刚性的同时吸收路面震动反馈，保障骑行者的踩踏效率稳定。
E. stays are organically shaped to function like a micro-suspension system, absorbing road vibrations without sacrificing the lateral stiffness needed for pedaling efficiency.
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