When the head disk collision occurs, the peak acceleration of the shock pulse approximately follows a linear relationship with the inverse of the excitation duration.

当头盘系统发生碰撞时，冲击激励峰值加速度与作用时间的倒数之间具有近似线性关系。

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In a conformal and inverse modulate intensity radiation planning (IMRT), mechanical collision is a key problem, which determines whether the therapy planning can be really executed or not.

在适形和逆向调强放射治疗中，机械碰撞问题是一个治疗计划的物理可实现性的基本问题。

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The approach implements collision avoidance without kinematics optimization and converts the arm into a non-redundant structure to directly calculate its inverse kinematics.

该方法使障碍回避过程不再依赖于运动学优化，将冗余度机械臂转化为非冗余度机械臂，直接给出位置形式的逆解。

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