机器人位置问题正解采用齐次变换矩阵法解算，逆解采用只保证位置的插值算法。
The positive algorithm of robot positions is solved by the same power transformation matrix method, while the negative algorithm adopts interpolating method ensuring the position only.
文中的的算例表明 移频与逆迭代法结合后对频率约束的 动力拓扑优化问题非常有效。
The example in the paper shows the efficiency of shift frequency together with inverse iteration to perform the dynamic topology optimization with frequency constrain.
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