Closedform solutions were developed for the inverse, the direct kinematics, the workspace limits and the velocitymatrix.
建立了机构的运动学正逆封闭解方程、作业空间解析解和速度传递方程。
2
The corresponding mathematical model and DPSO solution algorithm for transmission network expansion planning are developed through the construction of extended node matrix and velocitymatrix.
通过构造节点扩展矩阵和速度矩阵，建立了输电网络扩展规划问题的求解模型和DPSO求解算法。
3
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.