sub-matrix 子矩阵
rotation sub-matrix 旋转子矩阵
sub-Hermite matrix 次Hermite矩阵
sub-orthogonal matrix 次正交矩阵
fuzzy sub-transposed matrix Fuzzy次转置矩阵
generalized sub orthogonal matrix 广义次正交矩阵
sub-unit matrix 次单位矩阵
sub-normal matrix 次正规复矩阵
sub-unitary matrix 次酉矩阵
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A feasible tie-line set were developed on the base of adjacent matrix, path matrix and path sub-matrix.
结合图论中的邻接矩阵，提出路径矩阵和路径子矩阵的概念及形成方法，进而提出求取可行联络线集合的算法。
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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