Extended Kalman Filter is an efficient tool for mobile robot position tracking, but it suffers from linearization errors due to linear approximation of nonlinear system equations.
扩展的卡尔曼滤波定位方法是一个常用的位置跟踪方法，但是在对非线性系统方程进行线性化近似过程中引入了线性化误差。
A system of nonlinear constraint equations relating the position of hand having extreme distance to the positions of joints for robot are derived in rectangular co-ordinate system.
文中建立了在直角坐标系中表示的，联系机器人极限距离位置与关节位置的约束方程组。
The equations for forming force of flow-controlled forming, the criterion for control chamber position and the design methods for shape and dimension design are presented.
提出了流动控制成形力的计算公式、控制腔位置的判断准则及其形状和尺寸的设计方法。
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