论述了基于曲线合成插补理论的反向合成插补理论，研制出直线和二次曲线切割加工控制程序。
A backtracking interpolation theory based on the synthetic interpolation theory was expounded, a controlling program used to cutting straight line and quadratic curve has been developed successfully.
本文以实际的工程项目为背景，针对船舶建造工业中常遇到的空间曲线切割问题，设计了此四自由度机器人，用于圆管端头切割。
With the background of practical projects, aiming at cutting problem of space curve in shipbuilding industry, four axis robot system is designed. And it is used to cut the ends of the steel tubes.
应用挠曲线近似微分方程，推导了线切割结构的载荷与位移关系，并给出了由于微分近似导致的误差。
The relation between load and displacement is deduced by approximately differential equation of flexural curve and the error resulted from this estimation is given out.
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