并联机器人运动学正解 direct displacement of kinematics
并联机床运动学正解问题由于涉及到求解非线性方程组问题而不易解决。
It's difficult to solve the direct kinematics of a parallel machine tool (PMT), which will deal with nonlinear function set.
重点分析了3-DOF并联微纳操作器的运动学正解和逆解，推导出了运动学正解的雅可比矩阵。
The forward and inverse kinematics solutions of a 3-DOF parallel micro-nano manipulator were emphatically analyzed, and the Jacobi matrix of kinematics forward solution was derived.
SCARA运动学的研究中，以旋量，李群李代数为基础的POE指数积法求解运动学正解，逆解以及速度雅可比。
In the study of SCARA's kinematics, POE is used to obtain positive, inverse and jacobian solution, based of screw, Lie groups and Lie algebra.
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