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；

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This paper introduces PC control approach of joint motion of manipulator. This approach includes driving of stepping motor, interface design of hardware circuit and software programming.

介绍一种机械手关节运动的PC机控制方法，它包括步进电机的驱动、硬件接口电路的设计、软件的编程方法。

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Firstly, interface circuit is designed for joint type master manipulator.

首先，设计了关节式主手与计算机的接口电路。

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