应用球面三角法和方向余弦矩阵法分别推导出双轴陀螺平台的支架误差公式，发现由这两种方法推导出来的公式计算结果是一致的。
Methods of spherical trigonometry and direction cosine matrix were applied respectively to derive the bracket error, and the two methods had the same error formula and the same calculation results.
该文提出确定机构奇异位置的两种方法：三角化法和矩阵法。
In this paper, triangular method and matrix method have been suggested inorder to determine singular position of mechanisms.
该文提出确定机构奇异位置的两种方法：三角化法和矩阵法。
In this paper, triangular method and matrix method have been suggested inorder to determine singular position of mechanisms.
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