然后，本文探讨了机器人运动学正逆解求解方法和伺服电机控制算法，详细地讨论了其中的PID算法。

Then the paper discusses method of robot's kinematics and inverse kinematics and robot's control arithmetic mostly about PID control.

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然后使用矩阵求解的方法解得该电路。

Then the equivalent circuit was solved by matrix solution.

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利用已得到的三维轴对称问题的非局部弹性应力的解，采用级数近似展开的方法，求解环状裂纹的边值问题。

Solves the problem of boundary value on an annular crack by using the nonlocal stress solution of an axisymmetric crack problem and approximative method of series expansion.

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