并将其应用于两自由度机器人的逆运动学建模中，仿真结果表明了该方法的有效性。
Then, parameters selection method of LS-SVR was proposed based on adaptive immune algorithm (AIA) plus 5-fold cross validation, which was applied to inverse kinematics modeling of 2DOF robot.
平面五杆机器人是典型的两自由度平面并联机构。
The planar five-bar robot is a typical parallel robot with two-DOF.
根据这两个子系统间存在的双边耦合关系，建立6自由度并联机器人操作空间整体动力学模型。
According to a bilateral coupling between the two subsystems, the integrated dynamic model of 6-dof parallel robot is set up in operating-space.
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