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 presents a new method of analyzing locomotive lateral stability, that is, the critical velocity is calculated by use of the complex mode matrix perturbation theory.
本文提出一种分析机车横向运动稳定性的方法，即利用复模态的矩阵摄动法来计算临界速度。
According to the mapping relation of input and output of the parallel robot, Jacobian matrix of this robot was obtained on the basis of velocity projection method.
根据该并联机构的输入输出映射关系，推导出一种基于速度投影的雅可比矩阵求解方法。
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