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Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

Again, we're talking about that long line, the least amount of resistance is going to get you further on every pull-out.

我们再次提到了长线滑行，最小的阻力使你的每次出发都有滑得更远。

I have been using Linux for about 3 years now, and can't get enough of it.

我用Linux大概有三年的时间了，但还是觉得了解的不够多。

Link standardization is used in recommending flexible language to extend a process, also be to let partial friends can maintain a cheerful state of mind in Admin5, if feel the article is bad, you are OK immediately face about, go reading other articles, the means that perhaps uses a comment gives author and editor advise, and after because suffer the trend of curiosity to nod those,won't be being linked gutty get fooled feeling, come out the anger in the heart with literal expression.

之所以推荐软文推广过程中采用链接标准化，也是为了让部分朋友们能在admin5保持一个愉悦的心情，假如觉得文章不好，你可以马上转身，去看看其他的文章，或者用评论的方式给作者和编辑提意见，而不会因为受好奇心的趋势去点那些链接后有种受愚弄的感觉，把心中的愤怒用文字表达出来。

How can I get to know more about the locals?

我怎样才能更多了解当地人呢？

Locking may cause administrative problems. Sometimes Harry will lock a file and then forget about it. Meanwhile, because Sally is still waiting to edit the file, her hands are tied. And then Harry goes on vacation. Now Sally has to get an administrator to release Harry\'s lock.

锁定可能导致管理问题，有时张三锁定了文件，然后忘记了，这段时间，由于李四仍然在等待编辑文件，他的手不停的尝试，但是此时张三仍然度假，现在李四必须获得超级管理员权限来释放张三的锁定。

About 7-15 days later, the lead characters can get beans out long show its charm.

大概7—15天后，带字的魔豆就可长出来，显示它的魔力。

Get online for long dozen of game, central nervous system is in nervous condition from beginning to end, can cause plant nerve disorder, the skin is vasomotor the function is maladjusted, scalp is local vasomotor, decrease for blood, can cause wool bursa hidebound and bring about trichomadesis.

长时间上网打游戏，中枢神经系统始终处于紧张状态，会引起植物神经紊乱，皮肤血管收缩功能失调，头皮局部血管收缩，供血减少，会造成毛囊营养不良而导致脱发。

He didn't want to get the wizard started on another long-winded story about the wonders of his homeland.

他可不希望法师再一次开始他无休止的对故乡的美好回忆。

Then I looked back and saw Loris was coming too so I began to get worried about the last few laps.

然后我回头看发现Loris也干了上来，所以我开始为比赛的最后几圈担心。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。