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在Dubowsky提出的增强干扰图（EDM）基础上，提出一个新的受限最小干扰图RMDM的计算方法，以减少计算EDM图所需的时间和存储EDM图所需的空间，并在此基础上，提出了基于RMDM图的姿态控制算法．这种姿态控制方法可以保证机器人的本体姿态在机械手的运动过程中保持不变．为验证提出的姿态控制方法的可行性及有效性，通过计算机仿真与Dubowsky提出的方法做对比实验，实验结果表明提出的方法是正确的、可行的．
On the basis of Dubowsky’s enhanced interference graph (EDM), a new calculation method of RMDM is proposed to reduce the time required to calculate EDM graph and the space required to store EDM graph, and on this basis , An attitude control algorithm based on RMDM is proposed. This attitude control method can ensure that the robot’s body posture remains unchanged during the movement of the manipulator. In order to verify the feasibility and effectiveness of the proposed attitude control method, a comparison experiment is made with the method proposed by Dubowsky through computer simulation. The experimental results show that the proposed method is correct and feasible.