The expressions and tensor form coordinate transform matrix of the WDF ( WCTM ) is given and expressed in terms of the ABCD ray transform matrix elements of the system. 给出了用系统的ABCD矩阵元表示的用于进行此坐标变换的表达式和等价的张量形式的WDF的坐标变换矩阵(CTM)(WCTM)。
Calculated with the coordinate transform matrix, the acceleration, the velocity integrated at earth coordinate are output. 通过坐标转换矩阵的解算,可得到加速度、积分所得六维速度等运动矢量沿大地坐标系的分量。
Based on the space coordinate transform theory and matrix resolution method, the kinematic equation has been built and its inverse solution has been given. 采用空间坐标变换基本原理及坐标变换的矩阵解析方法建立了运动方程,并在此基础上求出其逆解,同时对解进行了分析。
The polar coordinate and Fast Fourier Transform ( FFT ) method are introduced to determine the invariant features of the transformed matrix. 引入极坐标变换和快速傅里叶变换相结合的方法,确定变换后的不变特征矩阵;
The coordinate transform and symbol method were used to derive the six-freedom robot's kinematics equation. The common formula was acquired for both the forward direction pose matrix and the converse solution of the six-freedom robot's components. 利用坐标变换法和符号法对六连杆机器人机构运动学方程进行推导,得到了六连杆机器人的正向位姿矩阵变换和逆运动学求解的通用公式。