First, the D-H method is adopted to establish the robot's direct kinematics model, which avoid a large amount of inverse multiply operation of matrix.
首先采用D-H方法建立了该机械手的正运动学模型，避免了大量的矩阵求逆和乘法运算。
参考来源 - SCARA机械手自适应模糊控制研究·2,447,543篇论文数据，部分数据来源于NoteExpress
The inverse and direct kinematics, force analysis was presented and the kinematic workspace was discussed.
对该机构进行了位置正解、反解分析和力学分析，并讨论了运动学工作空间。
The direct kinematics and inverse kinematics are obtained by using geometrical approach and the workspace is analyzed.
基于正向雅克比矩阵分析了各自由度之间的运动学耦合性。
Closedform solutions were developed for the inverse, the direct kinematics, the workspace limits and the velocity matrix.
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。
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