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本文在充分考虑双臂机器人机构结构特性条件下，应用递推算法，建立双臂机器人机构在协调运动过程的速度约束方程，并分析了方程的特点。
In this paper, under the condition of fully considering the structural characteristics of the two-arm robot, a recursive algorithm is applied to establish the velocity constraint equation of the two-arm robot mechanism in coordinating the movement and the characteristics of the equation are analyzed.