For the calculation of workspace for any manipulator with constrainedparameters, nonlinear programming and discrete algorithm are preferred.
对于运动参数变化受限制的任意机械手工作空间，本文将用非线性规划方法及离散算法进行计算。
2
To reduce the weight and cost of finishing mill to the minimum, optimum design computes the important parameters with constrained cyclic coordinate method, and precision is improved further.
Moreover, impedance model parameters are adjusted fuzzily to reduce the force errors in the constrained motion and improve the global force control performance.