共点直线

Aimed at 9-degree of freedom hyper-redundant module robot in intra-vehicular robot system, attention is given to the avoiding joint limits as an optimal mark. Two different iterative algorithms considering fault-tolerance for trajectory planning of redundant robot in Cartesian space are then proposed by using the method of differential locomotion. The first algorithm is for linear-path in which the pose of manipulator can be changed, the second is for circular-path in the plane decided by three noncollinear arbitrary points in the space. Experiments on the specimen robot platform are performed to validate the above algorithms.

以太空舱内机器人系统9-自由度超冗余模块机器人为研究对象，以避关节极限作为优化指标，考虑容错性能，利用微分运动的方法，分别提出了适于计算机迭代计算的冗余机器人在笛卡儿空间进行手爪姿态可变时的直线轨迹优化算法和手爪经过空间中任意不共线3点决定的平面内的圆弧轨迹优化算法。

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。