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中文摘要：
推导出串联机器人机构上任意点的速度和雅可比矩阵计算公式,在此基础上,编制出机器人机构任意杆件上任意点的雅可比矩阵自动生成程序。对于两自由度机器人和PUMA560机器人的计算实例证明了程序的有效性。该程序可作为机器人机构雅可比矩阵自动生成的实用工具。
英文摘要：
Calculation formulae of velocity of arbitrary point in the series robotic mechanism and Jacobian matrix were derived. Taking this as a base, the automatic generative program of Jacobian matrix for arbitrary point on arbitrary bar piece of the robotic mechanism was worked out. The effectiveness of program was testified by living calculation examples on the two DOF robot and PUMA560 robot. This program can be used as a practical tool for the automatic generation of Jacobian matrix of robot mechanism.
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