Afterward, researches have been done into the precision of the whole measuring system from the joint variable and constant parameter of the robot and the influence of the temperature.
随后从测量机器人的关节变量、常值参数和温度影响等方面对整个测量系统的精度进行研究。
While setting up mathematics model of kinematics, inverse problem against kinematics is to give out the position and pose of manipulator based on the base coordinates and solve its joint variable.
在建立运动学数学模型时，运动学逆问题是给出操作器相对于基坐标系的位置和姿态，求解其关节变量。
Using the variable argument PI control method, the force control of joint is studied.
采用变参数PI控制方法，对关节的力闭环控制进行了试验。
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