In this paper, a method to build geometric constraint model of 2 dimensional drawing based on undirected graph is presented.
本文提出了一种基于图结构描述的二维图形几何约束模型的建立及存储方法。
Constraint equations were constructed by using distance error model, and the actual geometric parameters of the robot were solved, and then these parameters were used in the modified kinematics model.
利用距离误差模型构造出机器人本体的约束方程，并求解出机器人的实际几何参数，进而将该参数应用于修正系统的运动学模型。
The main problems of Parameter design are abstraction and expression of the geometric constraint relationship, solver of geometric constraint and creation of geometry model.
参数化设计的关键是几何约束关系的提取和表达，几何约束的求解及参数化几何模型构造。
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