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；
Variable size of measurement matrix is set up to increase operation velocity and attenuate noise in processing.
在滤波处理时，设置可变的测量矩阵，其目的在于提高运算速度和抑制噪声干扰。
After determining the assemble scheme the closed forward and inverse solution and velocity jacobin matrix of the two degree of freedom parallel mechanism are obtained.
摘要在确定机构装配方式基础上，求解了二自由度并联机构的位置正反解和速度雅克比矩阵。
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