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The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

We want to carve a life on our own terms.

我们想以自己的方式来生活。

I just want to carve a life on my own terms.

我只想做自己。

Please state your terms and discount for cash.

请告知以现金支付的优惠条款和折扣比例。

Please state your best terms and discount for cash.

请告知现金支付的最佳条件和折扣率。

We Please state your best terms and discount for cash.

请告知以现金支付的优惠条款和折扣比例。

Please state your best terms and discount for cash .

请说明贵方付款条件和现金付款的折扣。

Please states your best terms and discount for cash.

请告知以现金支付的优惠条件和折扣比例。

Terms: early delivery, and net cash payment after receipt of the material at our works, and verification

条件： 即期发货。在货到我方工厂，经过验讫重量品质后，立即以现金支付。

Terms: early delivery, and net cash payment after receipt of the material at our works, and verification of weight and quality.

条件：即期发货。在货到我方工厂，经过验讫重量品质后，立即以现金支付。你知道它的英文吗？

On the other hand, the more important thing is because the urban housing is a kind of heterogeneity products.

另一方面，更重要的是由于城市住房是一种异质性产品。

Climate histogram is the fall that collects place measure calm value, cent serves as cross axle for a few equal interval, the area that the frequency that the value appears according to place is accumulated and becomes will be determined inside each interval, discharge the graph that rise with post, also be called histogram.

气候直方图是将所收集的降水量测定值，分为几个相等的区间作为横轴，并将各区间内所测定值依所出现的次数累积而成的面积，用柱子排起来的图形，也叫做柱状图。