An analytical expression for determining singularity configuration which is a polynomial equation is set, and the numeric symbolic manipulating technique is introduced in the paper.
建立了一种混联型虚拟轴机床主进给机构位置分析的输入输出方程,并推导出奇异位形判别的解析表达式。
This approach can guarantee that the identified parameters are optimal, by solving a one-dimensional polynomial equation instead of a nonlinear least square problem.
The formulas that used in the iterative procedure are build by means of the distribution of the roots of polynomial equation on the plane, and therefore the generating images are designed in advance.