Moment of inertia: turning around its axis of symmetry, object has the character keeping speed and the direction of the axis of rotation not changing.

转动惯性：物体在绕着自己的对称轴转动时，具有保持转速和转动轴方向不变的性质。

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The use of frequency convert to regulate the speed of rotation according to the character of mine fan can reach the goal of the modulation of air flow and have a very good effect of saving energy.

根据矿井通风机的特性，使用变频器进行转速调整以达到调节风量的目的，且有很好的节能效果。

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Based on the kinematics equation and the orthogonal character of the rotation sub-matrix in a transformation matrix, an approach to the inverse kinematics problem of 6r robots is proposed.

以机器人运动学方程为基础，基于变换矩阵中旋转子矩阵正交的特性，提出一种6r机器人运动学逆解算法。

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