The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节的运动学逆解唯一，计算简单，运算量小，特别具有多冗馀度的机器人，此法能够避免奇异解的讨论，提高计算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在负阻元器件特性进行研究和分析的基础上引出负阻效应的概念,负阻效应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗馀度机器人，此法能够避免奇异解讨论，提高计算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在对负阻元器件特性进行研究和基础上引负阻效应概念,对负阻效应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节运动学逆解唯一，计算简单，运算量小，特别是对于具有多冗馀度机器人，此法够避免奇异解讨论，提高计算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在对负阻元器件特性进行研究和分析上引出负阻效应概念,对负阻效应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节的运动学逆解唯一，计算简单，运算量小，特于具有多冗馀度的机器人，此法能够避免奇异解的讨论，提高计算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在负阻元器件特性进行研究和分析的基础上引出负阻效应的概念,负阻效应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节的运动学逆解唯一，计简单，运量小，特别是对于具有多冗馀度的机器人，此法能够避免奇异解的讨论，提高计。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在对负阻元器件特性进行研究和分析的基础上引出负阻应的概念,对负阻应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

明，关动学逆解唯一，计算简单，算量小，特别是对于具有多冗馀度机器人，此法能够避免奇异解讨论，提高计算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在对负阻元器件特性进行研究和分析基础上引出负阻效应概念,对负阻效应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节运动学逆唯一，计算简单，运算量小，特别是对于具有多冗馀度机器人，此法能够避免奇讨论，提高计算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在对负阻元器件特性进行研究和分析基础上引出负阻效应概念,对负阻效应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节的运动学逆解唯一，计算简单，运算量小，特别具有多冗馀度的机器人，此法能够避免奇异解的讨论，提高计算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在负阻元器件特性进行研究和分析的基础上引出负阻效应的概念,负阻效应产生方式和原理进行了论述。

The results show that all solution can determinately exist, which avoids the complicated discussion to singular solution educed from D-H transformation method.

结果表明，关节的运动学逆解唯一，算简单，运算量小，特别是对于具有多冗馀度的机器人，此法能够避免奇异解的讨论，算效率。

Based on the research on the characteristic of the dynatron component and parts of an apparatus, the concept of dynatron effect was educed, and the engendering mode and principle was discussed.

在对负阻元器件特性进行研究和分析的基础上引出负阻效应的概念,对负阻效应产生方式和原理进行了论述。