用关联度和关联度码识别运动链同构

本文给出了运动链拓扑结构的数字赋权拓扑简图表示及相应的矩阵表示和码表示。首次提出了描述赋权图中点的拓扑特征的一种新参量——关联度，用于有效地区分图中不同类型的点，进而得到了运动链的关联度码，它与运动链拓扑结构一一对应。用关联度和关联度码可准确高效地识别运动链同构。

IDENTIFICATION OF ISOMORPHISM FOR KINEMATIC CHAINS USING INCIDENT DEGREE AND INCIDENT DEGREE CODE

The digit weighted simplified graph and corresponding matrix and code for the representation of the topological structure of kinematic chains are given in this paper. A new parameter called incident which can describe the topological characteristics of the vertexes in a weighted graph is first introduced to distinguish different types of vertexes in the graph. Then the incident degree code of a kinematic chain can be obtained, which is one-to-one corresponding to the topological structure. The identification of isomorphism for kinematic chains can be correctly and efficiently performed using the method presented in this paper.