From the view of wire bonding, the whole procedure consists of two states: the free motion and the constrainedmotion.
从引线键合运动的角度来说，完整过程包括两种不同的运动状态：自由运动和约束运动。
2
Moreover, impedance model parameters are adjusted fuzzily to reduce the force errors in the constrainedmotion and improve the global force control performance.
通过对阻抗模型参数进行模糊调节减少受限运动中的力误差，提高了全局的力控制效果。
3
A novel inverse kinematics algorithm based on the human constrained joints for real-time human motion modeling is proposed.