In this thesis a simplified analytical model has been made out to solve this less freedom manipulator, and for this model we use the D-H method to derive the forward and inverse kinematics algorithm.
本文针对此欠自由度机械臂，提出了一种简化的数学解析模型，并运用D - H方法推导出此简化模型的正、逆运动学算法。
Based on the iterative solution of saturated-unsaturated quasi 3-d water flow model in large scale zone, a simplified model of solute transport was established.
在迭代求解区域饱和-非饱和拟三维渗流模型的基础上，建立区域溶质运移简化模型。
The other is simplified crack model, which is used to describe the traverse crack, estimate approximately the free face farther field effect and match with the 1-D fixed shape wave.
其二描述直管的横向裂缝，建立了估算裂缝自由面远场效应、并与一维定型波模型匹配的简化裂缝模型。
The other is simplified crack model, which is used to describe the traverse crack, estimate approximately the free face farther field effect and match with the 1-D fixed shape wave.
其二描述直管的横向裂缝，建立了估算裂缝自由面远场效应、并与一维定型波模型匹配的简化裂缝模型。
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