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。
The corresponding mathematical model and DPSO solution algorithm for transmission network expansion planning are developed through the construction of extended node matrix and velocity matrix.
通过构造节点扩展矩阵和速度矩阵，建立了输电网络扩展规划问题的求解模型和DPSO求解算法。
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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