Aiming at the mechanism character of a multi axes robot the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.
The methods used in this dissertation include matrix, algebra as well as differential geometry theory.
本文采用的研究方法有矩阵方法，代数方法和微分几何理论。
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With matrix conversion of geometry optics as a basis, simulation and modeling for complex multi-lens imaging optical system for four-quad splitting are carried out through light ray trace.