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Depiction of Industrial Robot's Jacobin Matrix by SOA

XIONG Qijia1, WU Hongtao1, ZUO Jianming2, LI luyang1, LI Qiaoliang1, ZHU Jianying1(1.School of Mechanical and Electrical Eng., NUAA,Nanjing 210016,China; 2.Dept.of Mechanical and Electrical Eng.,The Engineering College of Nanjing,Nanjing Jiangsu 210045,China)  
The theory of Spatial Operator Algebra was firstly used to research the structure characteristics of industrial robot's Jacobin matrix.It is interpreted by the research that Jacobin matrix can be depicted by three kinds of Spatial Operators as J=B*Ф*H*.This depiction has a simple math expression and a clear physical meaning, and then based on it a high effective stepping method can be formed to compute velocity and static force. 
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