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.
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。
3
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.