Comparing with other improvement, this method is superior in simple optical path and no additional energy loss.

通过对光强不对称的改进，该方法有光路简单，无能量损失的优势。

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This method is simple as well as intuitive by virtue of synthesizing the advantages of both the path planning in joint space and that in cartesian space.

由于这种方法综合了关节空间轨迹规划和笛卡尔空间轨迹规划各自所具有的优点，因此既简单又直观。

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Based on the minimum path error interpolation method, a new circular interpolation algorithm is proposed, which is simple and effective to perform, together with a positive deviation.

基于最小偏差插补算法的基本思想，提出了一种新的圆弧插补递推算法，该方法算法简单，执行速度快，且具有正偏差特性。

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