为了提高并联机器人运动精度，提出了一种利用姿态约束的运动学标定方法。
A new calibration method using orientation constraint is presented to improve the accuracy of parallel robots.
描述了一种空间化的姿态约束表达方法，并针对稳定定向模式面临的约束问题提出了姿态定向的模式重构算法。
A spatially attitude constraints monitor method was described, and an attitude pointing mode reconfiguration algorithm was proposed to solve the constraints problem with stabilization pointing mode.
首次推导了非完整惯性传感器配置条件下，基于载体动态约束的激光陀螺惯性测量与姿态参考模型。
The laser gyro inertial surveying and attitude reference system model with incomplete inertial sensors are first derived under the body dynamic constraint.
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