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本文从投影矩阵法推导出了孤子方程一些不同求解方法的基本方程或结论。
The fundamental equations and results of different methods for solving soliton equations are deduced by using the projection matrix method.
根据该并联机构的输入输出映射关系，推导出一种基于速度投影的雅可比矩阵求解方法。
According to the mapping relation of input and output of the parallel robot, Jacobian matrix of this robot was obtained on the basis of velocity projection method.
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