And then using mass center formula to calculate four parameters of translation axes and rotation coordinate, mathematic model is established.
然后采用重心公式计算出坐标平移旋转的4个参数，建立了坐标平移旋转的数学模型。
An unconstrained rigid body has six degrees-of-freedom: translation in three coordinates and rotation about three coordinate axes.
一个无约束刚体有6个自由度：直线移动在三个坐标和旋转运动三个坐标轴。
An unconstrained rigid body has six degrees-of-freedom: translation in three coordinates and rotation about three coordinate axes.
一个无约束刚体有6个自由度：直线移动在三个坐标和旋转运动三个坐标轴。
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