Strictly-speaking, if you are curious, we could also change to weird coordinate systems Jacobian using Jacobian with three variables at the same time.
为了满足大家的好奇心，严格来说，我们也可以换成其他各种坐标系,只需在变量替换时，使用。
Velocity Jacobian matrix and force Jacobian matrix of the PMT are educed.
导出此并联机床的速度雅克比矩阵和力雅克比矩阵。
After the formula of documents are used to rewrite elements of Jacobian matrix, the vector cross product is changed into the vector dot product in Jacobian matrix.
利用现有的公式对雅可比矩阵中的元素进行改写，将矢量叉乘变为矢量点乘。
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