First of all, D-H matrix is used to construct a kinematics model and a geometric parameter identification model for the robot, singular value decomposition (SVD) for Jacobian matrix is given, and elementary row operations are applied to the last 5 rows of
First of all, D-H matrix is used to construct a kinematics model and a geometric parameter identification model for the robot, singular value decomposition (SVD) for Jacobian matrix is given, and elementary row operations are applied to the last 5 rows of
首先，使用D-H矩阵对机器人建立了运动学模型和几何参数识别模型，对雅可比矩阵进行奇异值分解并对分解后的正交阵的最后5行进行初等行变换，以确定需要补偿的几何参数。