For the calculation of workspace for any manipulator with constrained parameters, nonlinear programming and discrete algorithm are preferred.

对于运动参数变化受限制的任意机械手工作空间，本文将用非线性规划方法及离散算法进行计算。

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To reduce the weight and cost of finishing mill to the minimum, optimum design computes the important parameters with constrained cyclic coordinate method, and precision is improved further.

而辊系优化推理部分以降低精轧机重量和减少造价为目的，采用约束坐标轮换法对辊系和机架参数进行优化推理，进一步提高设计精度。

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Moreover, impedance model parameters are adjusted fuzzily to reduce the force errors in the constrained motion and improve the global force control performance.

通过对阻抗模型参数进行模糊调节减少受限运动中的力误差，提高了全局的力控制效果。

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