英语翻译.docxVIP

湖南人文科技学院机械专业英语翻翻译内容（所翻译书名及页码）：Fundanmentals of Robotic Mechanical Systems ( P361 - P370)系 别：能源与机电工程学院专 业：机械设计制造及其自动化班 级：2014级机械二班姓名: 吴伟学 号:144282379.3 The Univariate-Polynomial Approach 361If eq（9.39a）is solved for and the result is substituted into eq.(9.39b), we obtain four equations free of and , namely, （9.40a）in which is a 4 x 9 matrix whose entries are linear in X3, whileand are 2x 9 and 4x 9 submatrices of matrix respectively. The above set of equations is now cast in the form （9.40b）with Di defined as a 4 x 3 matrix whose entries are bilinear in X4 and X5, while O4 is the 4-dimensional zero vector, and ys is defined as （9.41）If is chosen with nonzero entries in the third and sixth rows of matrix , then we have （9.42a）with p, q, u, and v listed in Table 9.1. If is nonsingular, is readily obtained as （9.42b）However, if turns out to be singular, then a different pair of eqs.(9.37a), of the set associated with rows 3, 6, 7, 8, 11 and 14, should be selected. Additional equations free of and can be derived from any six of the eight equations in eq.(9.37b), which can be used to solve for ; the expressions thus resulting are then substituted into the remaining two equations. In this way, two additional equations free ofand would be obtained. However, this elimination process is not suitable for symbolic computations. Instead, Raghavan and Roth (1990) derived the two additional equations in a terser form. This is done by finding two independent linear combinations of the eight equations (9.37b) that render identically zero all terms in and ,. The lefthand sides of these equations are given as （9.43a） （9.43b）9.3多项式的方法 361如果把公式（9.39a）计算的X带入到（9.39b）中，我们获得四个自由方程θ1和θ2即 （9.40a）〒是一个4 x 9 的矩阵线性X3的条目，而(Pn)2和(Pu)4 分别 2 x 9和4 x 9子矩阵的矩阵,上述方程组现在形式 （9.4