A feasible tie-line set were developed on the base of adjacent matrix, path matrix and path sub-matrix.
结合图论中的邻接矩阵，提出路径矩阵和路径子矩阵的概念及形成方法，进而提出求取可行联络线集合的算法。
2
Based on the kinematics equation and the orthogonal character of the rotation sub-matrix in a transformation matrix, an approach to the inverse kinematics problem of 6r robots is proposed.
以机器人运动学方程为基础，基于变换矩阵中旋转子矩阵正交的特性，提出一种6r机器人运动学逆解算法。
3
It was found that the material A2 with micrometer matrix strengthened by sub-micrometer second phase had the best comprehensive mechanical properties.