给出了正交圆柱结构两自由度电动机的运动学模型及变换矩阵，推导了速度雅可比矩阵。
This paper presents the kinematics model and the velocity Jacobian matrix of the two degree of freedom motor.
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.
该方法利用卡尔曼滤波估计特征点在图像空间中当前时刻的位置和速度，进而计算当前时刻较为准确的图像雅可比矩阵估计值。
The current position and velocity of the feature point on the image plane are predicted by Kalman filter algorithm, and then the accurate image Jacobian matrix is calculated.
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