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    空间坐标转换技术的分析与研究(一)
    Analysis and Study of Spatial Coordinate Transformation Technique (1)
      
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    中文摘要:
          系统分析了空间坐标转换的不同形式及其相互关系，运用旋转矩阵理论作了较为深入的探讨，指出了使用中应注意的问题。提出了齐次矩阵，微分算子及雅可比阵矩等有用概念，作为例子，讨论了这些概念在机器人学中的应用。
    英文摘要:
          The different types of spatial coordinate transformation and the relation between them are analyzed systematically in this paper. Using the rotation matrix theory,the deep search is done and the attentive problems during use are pointed out- The useful concepts of homogeneous matrix, differential movement,differential operator and Jacobi matrix etc. are proposed. The application of these concepts to robotics is discussed.
    周维虎  兰一兵  丁叔丹  费业泰
    北京市长城计量测试技术研究所!北京市，100095
    中文关键词:  坐标转换 矩阵 雅可比矩阵 齐次矩阵 空间坐标
    英文关键词:Coordinate transformation, Matrix, Jacobi matrix, Homogeneous matrix, Differential operator,Differential movement,
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