针对机构模型建立了约束方程，利用解析法求解机构的位置正反解，并绘制出机构装配简图。
Constraint equation was established according to mechanical model, utilizing the analysis, solving the forward and inverse position solution, and drawing the mechanical assembling sketch.
本文取得如下成果：借助矢量法、约束方程和动能定理分别构造出机械手的位置逆解模型、速度雅克比矩阵、质量惯性矩阵。
With the aid of vector method, constraint equation, kinetic energy consideration, the inverse position model, Jacobian matrix and mass matrix have been developed.
通过加入环境节点约束方程对多显著误差的同步识别并同步补偿法(SEGE)进行改进研究。
The simultaneous estimation of gross errors (SEGE) is modified by adding environment node constraint to improve the detection performance.
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