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，此法能够避免奇异论，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，特别是对于具有多冗馀度的机器人，此法能够避免奇异解的，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分析的基础上引出负阻效应的概念,对负阻效应产生方式原理进行了论述。

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，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。

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分析基础上负阻效念,对负阻效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，特别是对于具有多冗馀度的机人，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.

在对负阻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。

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.

在对阻元器件特性进行研究和分析的基础上阻效应的概念,对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，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。

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，提高计算率。

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.

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