SCARA运动学的研究中，以旋量，李群李代数为基础的POE指数积法求解运动学正解，逆解以及速度雅可比。
In the study of SCARA's kinematics, POE is used to obtain positive, inverse and jacobian solution, based of screw, Lie groups and Lie algebra.
在适当地选取了半单李代数的根系之后，就可算出初等表示权的标积。
When the set of roots for a semi-simple Lie algebra have been selected appropriately, the scalar product of the weights of the elementary representation can be calculated.
在适当地选取了半单李代数的根系之后，就可算出初等表示权的标积。
When the set of roots for a semi-simple Lie algebra have been selected appropriately, the scalar product of the weights of the elementary representation can be calculated.
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