Based on Jacobi matrix, a simple and useful method for the static transformation between coordinate systems of robot is developed.
根据雅可比矩阵，导出了一种用于机器人坐标系间静力变换的一种简便而实用的方法。
2
A new transformationmethod for follow-up coordinate system is used and a matrix equation for transforming spatial transporting coordinate of scattering photons is given.
应用一种新的随动坐标系转换方法，给出用于转换生物组织中光子空间传输坐标的矩阵方程。
3
The transformationmatrix, calibration method and precision of the coordinate system were investigated.