The concept of the mapping matrix is used for establishing relationship of torque,speed, Jacobian and compliance of coupled manipulators with those of manipulators obtained with conventional methods.

• 变换矩阵用来建立起铰接机械手与传统方法所获得机械手的扭矩、速度、雅各比矩阵及齐次变换矩阵之间的关系。