It is shown that the grey exponential law can be obtained by means of accumulative generation for non-negative smooth discrete function.
本文论证了非负光滑离散函数累加生成后具有近似的指数规律，即灰指数律。
The three-order spline function was employed to smooth the discrete planning positions in the robot controller with open architecture. In order to avoid the vibration in the robot tracking motion.
在开放式机器人控制器中，用三次样条函数来平滑离散规划位置，以避免跟踪运动中的振荡。
By using the smooth function and filter function, the discrete variables and continuous variables were transformed conveniently.
借助于磨光函数和过滤函数，实现了离散变量和连续变量之间的相互转换。
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