Secondly on the basis of the mechanism kinematics' analyzing, the mechanism's workspace was analyzed through the Jacobian matrix and the inverse kinematics equation.
其次在对机构运动学分析的基础上，利用机构的雅可比矩阵和运动学反解方程对机构的工作空间进行分析。
With the aid of vector method, constraint equation, kinetic energy consideration, the inverse position model, Jacobian matrix and mass matrix have been developed.
本文取得如下成果：借助矢量法、约束方程和动能定理分别构造出机械手的位置逆解模型、速度雅克比矩阵、质量惯性矩阵。
Jacobian matrix and force-mapping matrix are calculated from the inverse-kinematics of the parallel-mechanism.
这种方法首先由机构的逆解计算其力映射矩阵、雅可比矩阵。
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