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我们就用雅克比来求。And, for that, we use the Jacobian.

雅可比矩阵是描述机器人特征的重要参数之一。Jacobian matrix is one of the important parameters of robots.

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此外还给出了图像雅可比矩阵的递推公式。The updating equation of image Jacobian matrix is also given.

如用求解广义雅克比矩阵的伪逆阵的方法，得到的结果误差太大。Ones that use a pseudo inverse Jacobian may result in large errors.

这种方法无需计算雅可比矩阵伪逆。This method doesn't compute the Moore-Penrose inverse of image Jacobian.

导出此并联机床的速度雅克比矩阵和力雅克比矩阵。Velocity Jacobian matrix and force Jacobian matrix of the PMT are educed.

分析了机构的运动，得到其雅克比矩阵。The Jacobian matrix is presented after the motion of the parallel mechanism is analyzed.

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该方法简化了系统的雅可比矩阵，缩短了计算时间。The proposed method simplifies Jacobian matrix of power system and saves calculation time.

并给出其运动学、动力学模型及雅克比矩阵。The kinematics and dynamics models of the manipulators as well as Jacobian matrix are built.

又根据机构的雅克比矩阵，对机构的奇异位形进行了分析。According to the Jacobian matrix of mechanism, the singularity of the mechanism was analyzed.

使用灵敏度网络求取子网络对雅可比矩阵的贡献。Evaluating the sub network contribution in Jacobian matrix by analysing the sensitivity network.

之后我会讲到换元和Jacobian的，我认为这是不同的主题。I will get to change variables and Jacobian soon, but I'm thinking of this as a different topic.

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研究基于图像的机器人视觉伺服技术中雅可比矩阵的在线估计方法。Proposes a new method of estimating Jacobian matrixes on-line for image-based robot visual servo systems.

这种方法首先由机构的逆解计算其力映射矩阵、雅可比矩阵。Jacobian matrix and force-mapping matrix are calculated from the inverse-kinematics of the parallel-mechanism.

首先，推导线驱动平台之逆向运动学、奇异点和力学方程式作为本研究之基础理论。This paper begins with a study of inverse kinematics, Jacobian analysis, Singularity analysis and Static of WDP.

同时，利用分层神经网络代替视觉空间到任务空间的映射，避免了复杂的逆矩阵计算。Meanwhile a HCMAC neural network is fabricated to replace the complex calculation of the inverse Jacobian mapping.

为了获取高精度的雅可比矩阵本文设计了CCD摄像机参数标定的实验。In order to attain a precise Image Jacobian , this paper designs an experiment for CCD camera parameter calibration.

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对差分方程之隐式部分利用了近似因式分解法。Jacobian Matrix splitting and approximate factorization are used for solving obtained implicit difference equations.

最后，使用机械手臂的贾氏矩阵关系产生机械手臂各轴的速度控制命令。Next, the Jacobian matrix of the robot arm is used to calculate the responsive angular velocity commands of each joint.

提出了一种新的基于降阶网络雅可比矩阵的电力系统状态估计可观测性分析方法。A new observability analysis algorithm for power system state estimation based on reduced network Jacobian matrix is proposed.