Pseudo differential feedback sub variable (PDFSV) control method is expounded.

论述了伪微分反馈次变量(PDFSV)控制方法。

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In order to explore the change of pseudo-density to the effect of material rigidity and set up the relation between them for density variable method, we presented FEM to deal with the problem.

为了探讨变密度法中伪密度的变化对材料刚度的影响，并建立两者之间的力学关系，本文采用有限元法研究这一问题。

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Kinematic simulation of a four celled tetrahedron tetrahedron variable geometry truss manipulator is carried out. Results show that our method is better than the pseudo inverse method.

并对四重四面体的变几何桁架机器人进行仿真计算，与伪逆法求解进行了比较，证明了方法的优越性。

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