建立了机构的运动学正逆封闭解方程、作业空间解析解和速度传递方程。
Closedform solutions were developed for the inverse, the direct kinematics, the workspace limits and the velocity matrix.
紧接着分析五自由度机械手的运动学特性，建立了正、逆运动学方程。
Next, the five freedom manipulator's kinematics characteristic is analyzed, establishing the direct and the inverse kinematic equations.
然后，本文探讨了机器人运动学正逆解求解方法和伺服电机控制算法，详细地讨论了其中的PID算法。
Then the paper discusses method of robot's kinematics and inverse kinematics and robot's control arithmetic mostly about PID control.
本文针对此欠自由度机械臂，提出了一种简化的数学解析模型，并运用D - H方法推导出此简化模型的正、逆运动学算法。
In this thesis a simplified analytical model has been made out to solve this less freedom manipulator, and for this model we use the D-H method to derive the forward and inverse kinematics algorithm.
其次，提出了正运动学与逆运动学相结合的步态规划方法。
Secondly, put forward the walking planning idea combining forward kinematics with inverse kinematics.
对HP99型堆垛机器人进行了正运动学和逆运动学问题的分析，分别求出了正运动学解和逆运动学解。
This paper analyses the verse and inverse kinematics of HP99 stacker robot and solves these two problems.
分析了一种三杆五自由度并联机床机器人运动学问题，给出了其运动学正逆解位置方程，并对并联机床的速度及加速度求解进行了定性分析。
The degree of a 3-legged in parallel kinematics machine tool is analyzed. Its positive and inverse kinematics is presented and its velocity and accelerate were qualitative analyzed.
分析了一种三杆五自由度并联机床机器人运动学问题，给出了其运动学正逆解位置方程，并对并联机床的速度及加速度求解进行了定性分析。
The degree of a 3-legged in parallel kinematics machine tool is analyzed. Its positive and inverse kinematics is presented and its velocity and accelerate were qualitative analyzed.
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