In the vicinity of bifurcation singularities of non redundant robot manipulators, null space based quasi arc length method will face difficulties due to the existence of more then one solution branches of the inverse kinematics while tracking the desired path in the workspace.
為此 ,本文通過計算[分]支點的局部模型 ,提出從[分]支點開始向兩側(cè)延拓的解曲線計算方法 ,有效地完成了路徑跟蹤求解 ,在關節(jié)空間獲得光滑的運動軌
In this paper an effective method to identify bifurcation and limit points in path follow ing is presented with a numerical example.
提出一個在路徑跟蹤計算中識別[分]支點和極值點的實用方法，給出了算例。
A new normal family theorem is obtained that let W be a family of algebroid function in a domain D of sphere V,if for all p D, there is a neighborhood U(p) with existing at most k branch points in U(p),furthermore there exist fix complex values a1,a2,a3 for each fW,then W is normal in D.
證明了代數(shù)體函數(shù)的正規(guī)定理:設W為區(qū)域D內(nèi)的一個k-值代數(shù)體函數(shù)族,若對p D,其充分小的鄰域U(p)使得對f W至多有k個[分]支點(重點按重數(shù)記),又W中每個函數(shù)都不取固定的3個互不相同的復數(shù),則W在D內(nèi)正規(guī)。
In the present paper we discuss the conformal minimal brasification of the branch points of the conformal branch immersion.
對曲面到Ｋａｅｈｌｅｒ流形的共形極小分支浸入的[分]支點給一種（ｑ，ｒ）型分類，進而研究到復射影空間的共形極小分支浸入，得知相應的 －變換和?。儞Q在[分]支點的性態(tài)。