This paper presents a new method named "Analytic Orthogonalization", for orthogonalizing directioncosine matrix.
本文提出方向余弦矩阵正交化的一种新方法——解析正交化。
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The coordinate transformation matrix based on the directioncosine parameters from the object coordinate system to the world coordinate system is derived by vector algebra.
A kinematics model by post D-H method for 4R-robot was offered in this paper, which derived the manipulator finger position and its attitude with unit vectors of directioncosine.