主要说明了点焊机器人在白车身焊接中位姿矩阵的计算，并用CATIA软件对机器人的运动轨迹进行仿真。
The calculation of point welding robot's positional matrixes in wielding car-body-in-white is discussed in this paper, and the spatial motion trail of the robot is simulated with CATIA.
这里采用矩阵法建立了转台各个支路的位姿变换关系，提出了求解转台误差的数值方法，通过实例对该方法进行了验证。
The matrix approach is used to establish each branch's position and pose transformation relation, and a numeric method to solve the platform's error is presented, which is tested by an instance.
研究机器人处于非奇异位姿即逆雅可比矩阵行列式不接近零时，位姿变化对机器人精度的影响。
The effects of posture changes on the accuracy of robot have been studied when the robot is in non-singular posture, namely the determinant of inverse Jacobi matrix is not close to zero.
通过位置跟踪器获取操作者手掌的位姿数据，采用数据分解和矩阵变换的方法将其映射为虚拟手掌在虚拟现实环境中的位姿，实现了对虚拟手的准确控制。
The gestures of real palm that obtained by position tracker are mapped to the gestures of virtual palm in the virtual reality environment by data mapping and transfer matrixes.
通过位置跟踪器获取操作者手掌的位姿数据，采用数据分解和矩阵变换的方法将其映射为虚拟手掌在虚拟现实环境中的位姿，实现了对虚拟手的准确控制。
The gestures of real palm that obtained by position tracker are mapped to the gestures of virtual palm in the virtual reality environment by data mapping and transfer matrixes.
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