An inverse kinematics analysis of the designed welding-robot based on D-H displacement transformation matrix was put forward.
本文在D - H齐次变换矩阵的基础上，对焊接机器人进行运动学逆解。
The layer stiff matrix, which expresses the relation of force and displacement on surface of every layer, could be calculated to apply integral transformation.
通过积分变换的方法可以求出每一层表面处位移与力之间的关系，进而形成层刚度矩阵。
By matrix transformation, the solutions of surrounding rocks disturbance stress, strain and displacement are obtained.
通过矩阵变换，得到隧道围岩体扰动应力、应变和位移的解答函数式。
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