本文仅就满足齐次线性递推关系序列，给出它一般项求法。
This Paper gives Only a method to find the general term u_n of a Sequences Which Satisfies homogeneous Linear recurrence relations.
变换矩阵用来建立起铰接机械手与传统方法所获得机械手的扭矩、速度、雅各比矩阵及齐次变换矩阵之间的关系。
The concept of the mapping matrix is used for establishing relationship of torque, speed, Jacobian and compliance of coupled manipulators with those of manipulators obtained with conventional methods.
找出在执行机构空间和在关节空间内的扭矩、速度、雅各比及齐次变换矩阵之间的关系。
The relation between torque, speed, Jacobian and compliance in actuator space and the same parameters in joint space is obtained.
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