该算法在可控性矩阵中将输入矩阵用其列向量的极大线性无关组代替，并使用矩阵的行初等变换；
By using the elementary row transformation in the controllable matrix, the input matrix is replaced by the maximally linear independent set of its column vectors.
通过信息矩阵的方法分析了机器人的运动参数可控性，从而为下章的机器人的运行速度控制和其他控制了提供数学基础。
Chapter three provided the mathematical model of robotic dynamics and motion and discussed the controllability of the robot running characters through the information matrix.
两种方法都可以利用广义逆矩阵求得显式解，具有可逆性、可交换性、结合性等优点，提高了曲面形状修改的效率和可控性。
Both methods can be solved explicitly by a pseudo-inverse matrix and are of invertible, commutative, and associative properties, which enhance the efficiency and controllability of the manipulation.
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