Njira yosinthira matupi ambiri imagwiritsidwa ntchito poyesa kukhazikika kwa ziwalo zotseka zathupi. Chiwalo cha thupi chimatengedwa ngati thupi lolimba, ndipo mbali zotsekera zimatanthauzidwa ngati thupi losinthasintha. Pogwiritsa ntchito kusanthula kwamphamvu kwamitundu yambiri kuti mupeze katundu wa zigawo zazikuluzikulu, mphamvu zofananira zopsinjika zimatha kupezeka, kuti muwone kulimba kwake. Komabe, poganizira mawonekedwe osagwirizana ndi kutsitsa ndi kusinthika kwa makina otsekera, mizere yosindikizira ndi chipika chotchinga, kuchuluka kwazomwe zimayesedwa koyambirira nthawi zambiri kumafunika kuthandizira ndikuyika chizindikiro, yomwe ndi ntchito yofunikira kuwunika molondola kulimba kwa mawonekedwe otseka thupi ndi pogwiritsa ntchito njira ya multi-body dynamic.
Njira yopanda malire
Mtundu wamalire womwe umagwiritsidwa ntchito poyerekezera osatsatana pang'ono ndi wokwanira, kuphatikiza gawo lotsekera lokha ndi zida zofananira, monga chisindikizo, makina okhoma chitseko, chipika chotchinga, pneumatic/electric pole, etc. thupi loyera. Mwachitsanzo, pakuwunika kwa SLAM pachivundikiro chakutsogolo, kulimba kwa zigawo zachitsulo zachitsulo monga mtengo wapamwamba wa thanki yamadzi ndi chithandizo cha nyali kumawunikidwanso.
