Aiming at the mechanism character of a multi axes robot the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.
针对一个教学型多关节机器人的机械特点，不用一般的齐次转换的方法而是用简单的笛卡儿几何的方法解决了其运动学逆问题。
Aiming at the problem of underwater object location in bistatic sonar, the paper discussed six basic location methods and an optimized method of two-dimensional.
针对双基地声纳水下目标定位问题，讨论了二维目标定位的六种基本方法以及优化方法。
Aiming at the mechanism character of a multi axes robot, the location kinematics negative problem was solved by simple Descartes geometry instead of general matrix transform.
针对一个教学型多关节机器人的机械特点，不用一般的齐次转换的方法而是用简单的笛卡儿几何的方法解决了其运动学逆问题。
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