Secondly, based on the further research of the kinematics of five DOF manipulator, kinematics model is made with the method of D-H, joint velocity and Jacobian matrix are also carried out.
其次，在深入研究五自由度机械手的运动学问题的基础上，用D-H法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵；
This paper introduces PC control approach of joint motion of manipulator. This approach includes driving of stepping motor, interface design of hardware circuit and software programming.
介绍一种机械手关节运动的PC机控制方法，它包括步进电机的驱动、硬件接口电路的设计、软件的编程方法。
Firstly, interface circuit is designed for joint type master manipulator.
首先，设计了关节式主手与计算机的接口电路。
Meanwhile, the speed regulation, position detection and feedback, movement coordination of each joint in the servo control system of this manipulator are described in the article.
并就机械手伺服控制系统的速度调节、位置检测与反馈、各关节动作的协调等方面的设计作了说明。
The bore sequence of every working face is random to the multi joint rock drilling manipulator, so the bore task planning is very complicated.
多关节凿岩机械手在工作时，完成的是一个在一定工作面上随机的钻孔孔序任务，其孔序规划相当复杂。
In one hand, the manipulator positioning is achieved by decomposing the track velocity vector in joint space with minimal least square method.
一方面，采用腕部速度矢量在操作臂关节空间极小最小二乘分解的方法规划操作臂关节速度。
Tracking errors of macro manipulator are compensated by the fast adjustment of micro manipulator and the control is implemented in joint space.
对宏微机器人的控制在关节空间进行，通过微机械手的快速运动对宏机械手的轨迹误差在线补偿。
In this paper, the control problem of free-floating space manipulator system with prismatic joint was studied.
讨论了载体的位置与姿态均不受控制的漂浮基带滑移铰空间机械臂的控制问题。
While setting up mathematics model of kinematics, inverse problem against kinematics is to give out the position and pose of manipulator based on the base coordinates and solve its joint variable.
在建立运动学数学模型时，运动学逆问题是给出操作器相对于基坐标系的位置和姿态，求解其关节变量。
At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator in order to guarantee the better position precision and expected speed and acceleration.
再根据机械手末端执行器的运动情况完成了相应关节力矩的计算，以使它们能以期望的加速度和速度运动，保证良好的位置精度。
The constitution\, function\, principle and design of a new speed servocontrol system of placing radiation manipulator joint have been discussed in detail.
本文详细论述了电驱动的自主式水下机械手关节速度伺服控制系统的原理及研制。
In this paper, an efficient method of joint trajectory planning for industrial manipulator is developed, having considered the dynamic constraint of the system.
本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法。
The relations between joint torque deviation and angular velocity of manipulator are controlled.
并能同时控制机械手抓取过程中关节力矩偏差和角速度关系。
The actuator of manipulator can be befittingly made of this original joint for its better cushion and agility.
柔性关节的结构较为新颖，具有缓冲性好，动作灵敏等特点，适宜用作机器人的抓持驱动器。
In this paper, a super-high-speed algorithm of coordinate inversion is outlined, which draws each joint rotative Angle from the end-position and posture of manipulator.
本文提出了从机械手末端位置及姿势求出各关节转角的坐标逆变换超高速算法。
Virtual joints are used to replace the identified joint(s) in a manipulator matrix (200) to modify the manipulator matrix (200) and provide a modified manipulator matrix.
在操作器矩阵（200）中以虚拟接点取代识别出的所述一个或多个接点，以更改所述操作器矩阵 （200）并提供更改后的操作器矩阵。
The thesis focuses on analysis and design of the anthropopathic mechanical arms' shoulder joint based on the spherical 3-dof parallel manipulator.
本文对一种基于球面三自由度并联机构的拟人机械手臂的肩关节进行了分析与设计。
Design thought is given, which indicates the spherical 3-dof parallel manipulator is fit to become the anthropopathic mechanical arms' shoulder joint.
给出设计思想，表明球面三自由度并联机构适合作为拟人机械手臂的肩关节。
Design thought is given, which indicates the spherical 3-dof parallel manipulator is fit to become the anthropopathic mechanical arms' shoulder joint.
给出设计思想，表明球面三自由度并联机构适合作为拟人机械手臂的肩关节。
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