inverse jacobi matrix of robot was obtained by means of the differentiation with respect to input and output equations for positions of 6-sps typed parallel robot.
通过对6-sps型并联机器人位置输入输出方程微分,获得机器人逆雅可比矩阵。
the effects of posture changes on the accuracy of robot have been studied when the robot is in non-singular posture, namely the determinant of inverse jacobi matrix is not close to zero.