Coordination transform, triangle transform, etc are proposed to successfully derive the inverse kinematics analytic equations for the humanoid robot th 1 arms.
提出了坐标变换、三角变换等方法，巧妙求解出拟人机器人TH - 1手臂逆向运动学的解析表达式。
2
In terms of SU (1, 1) algebra, the eigen equations of three-dimensional Harmonic Oscillator and hydrogen atom in inverse square potential are counterchanged the same equations in form.