And the Jacobian and inverse Jacobian of the manipulator is got by analyzing the relationship between the end speed and the joint variable sp.
根据搬运机械手的结构特点和性能要求,首先对其正向运动学进行了分析,得出其运动学方程式—操作臂末端在基坐标系下的位置关系式;然后对逆向运动学进行分析,根据操作臂末端的位置,确定出各关节的转角;最后根据机械手末端速度与关节变量速度之间关系分析,得出机械手的雅可比和逆雅可比。
The second order Jacobian determinator of 2-dimensional reconstrusted transformation from sgstems of the ordenary differential equations is calcutated.
本文利用常微方程系统二维重构变换的雅可比行列式，对强迫Brusselator吸引子进行了分框计算，确定出二维重构的延迟时间。
An 8-PSS redundant input parallel mechanism is presented in this paper,with the statics balance(equations) and force Jacobian matrix being founded.
提出一种8-PSS型冗余输入并联机构,建立了相应的静力学平衡方程,得出了其力雅可比矩阵;用矢量运算方法建立了其速度雅可比矩阵,验证了PSS型冗余输入并联机构的力雅可比矩阵与速度雅可比矩阵的转置关系,并且与冗余输入的数目无关,通过实例表明了上述结论的正确性。
Independent translational and rotational kinematic models of a Delta and 3-RRR mechanism based double parallel haptic device were established and the corresponding Jacobean matrixes were derived respectively.
建立了基于Delta和3-RRR复合结构的双并联式主手平动与转动独立的运动学模型,并推导出各自的雅可比矩阵,给出了局部灵巧度和全局灵巧度的计算方法。