according to the discussion of approximate computation model about taylor series method and newton tangent method, the approximate solution of newton tangent method is improved .
the new method is called welded line tangent method which forms a kinematics model for the robot operating in the bent degree based on the judgment of the tacking system.
该方法是根据焊缝跟蹤系统判断焊缝的弯曲程度,确定机器人的运动学模型。
this method overcomes the drawback of a large error for identification of the process dead-time with traditional tangent method and the drawback of limited relay feedback control.
此方法克服了传统切线法辨识对象时滞误差大,继电反馈实验受限制的缺点。
when surveying major diameter and higher hanging pipeline, common trigonometric leveling can't meet precision requirement, but tangent method surveying can meet precision requirement.