This paper introduces the basic principle of robot pose matching and two optimization algorithms,i.

Unity of attitude matching algorithms in transfer alignment;

The attitude matching transfer alignment is sensitive to the wing flexibility.

Four kinds of attitude matching algorithms used in transfer alignment are derived,the advantages and disadvantages of the four algorithms are presented,and the optimal attitude matching algorithm(OAMA) is presented and proved.

In order to validate the effect of the velocity plus attitude matching algorithm,the captive test and dynamic test were made in the system.

A difforent frequency generation of nonlinear optical crystals of AgGaSe_2 and AgGaS_2 has been analyzed based on the three-wave coupled equation and energy consesrvation in the phase-matching of type-Ⅰand type-Ⅱ.

Based on the calculation and discussion on the phase-matching,walk-off angle,acceptance angle and effective nonlinear coefficient for the KTP crystal,and on the numerical simulations of the angle-tuning curve and gain curve,the tuning spectrum and cutting angle of the KTP was finally established as 1.

Energy conversion process and spatial distribution of forward-propagating signal wave and backward-propagating wave of sum frequency under phase-matching condition were investigated.