At last, a virtual model of the manipulator is created, and results of simulation of manipulator 's working range show that the design requirement is basically satisfied.
最后，创建了机械臂的虚拟样机模型，进行了机械手工作域的仿真分析，结果表明能较好地满足设计要求。
2
Virtual joints are used to replace the identified joint(s) in a manipulator matrix (200) to modify the manipulator matrix (200) and provide a modified manipulator matrix.