The error calculating method using the homogeneous coordinate transformation matrix together with forward and inverse kinematics and the corresponding error compensation strategies were proposed.
提出了利用齐次变换矩阵和正向、逆向运动学相结合的误差计算方法以及相应的误差补偿策略；
The inverse problems are researched on linear transformation, system of linear equations, diagonalizing of matrix, and so on.
本文就线性代数中几个重要知识点：线性变换、线性方程组的解、矩阵对角化等的逆向问题进行研究。
An inverse kinematics analysis of the designed welding-robot based on D-H displacement transformation matrix was put forward.
本文在D - H齐次变换矩阵的基础上，对焊接机器人进行运动学逆解。
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