提出了一种新的推导回转关节型多自由度气动机械手逆运动学方程的方法，进而给出逆运动问题新的求解方法。
A new inferential method for inverse kinematics equation of revolute joint pneumatic manipulators was presented, and efficient solution of inverse kinematics problem was also given.
借鉴成熟的姿态四元数积分的双速算法结构，设计了一个数值积分算法求解以上三个运动学方程，构建了基于对偶四元数的捷联惯性导航算法。
Borrowing the traditional two-speed approach originally developed in conventional attitude integration, we design one new numerical integration algorithm to solve the three kinematic equations.
提出了一种新的推导MOTOMAN型机器人逆运动学方程的方法，进而给出逆运动问题新的求解方法。
A new inferential method for inverse kinematics equation of MOTOMAN manipulators was presented, and efficient solutions of inverse kinematics problem were given.
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