The author derived kinematic equations of the Linemanrobot using conventional solutions and D-H method.
用常规解法和D - H法分别推导了该机器人的正运动学方程。
The kinematics model is established by using the D-H method, and solved by using the counter transformation method.
并用d - H方法建立了机械手的运动学模型，用反变换法对其进行了运动学反解。
First, a 5-dof brain surgery robot structure was developed. It used the D-H method to resolve the kinematics problems.
首先，研制了一种五自由度脑外科机器人结构，利用D—H方法计算了机器人运动学的正反解方程。
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