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；
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.
本文将冗余自由度用于消减柔性杆机器人的残余振动，通过优化选择最优的自身运动以达到减振目的，模拟结果表明，这一方法可以取得很好的效果。
In the paper, the redundancy is used to decrease residual vibration of flexible link robot through optimal self motion, and the method is proved to be efficient by computer simulation.
基于有限单元法，推导出多自由度结构体系在地震作用下的增量形式的运动方程，建立了大跨度斜拉桥的地震激励模型。
The incremental motion equations of a M DOF structural system excitated by seismic waves are formulated based on FEM, and a seismic response model for cable stayed bridges are proposed.
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