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.
其次,在深入研究五自由度机械手的运动学问题的基础上,用d-h法建立了五自由度机械手运动学模型并分析了机械手的关节速度与雅可比矩阵;