通过拐角处的加速度和弓高误差的限制，计算平稳的加工速度。
The federate in the corner area is controlled by the constraint of acceleration and chord error.
从分析中发现，在插补算法中加入对曲线曲率的考虑，可以减小插补的弓高误差。
It is discovered that the interpolation error can be greatly decreased by considering the curvature of the curve in interpolation algorithm.
研究结果表明：利用升角与升弓高之间的关系，可简化受电弓运动微分方程的推导；
The results show that the equations have benefit to the deduction of the pantograph's mechanical differential equations.
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