本文以机器人运动学及误差理论为基础，推导出了在各种位姿描述情况下机器人位置和姿态误差的计算公式。
On the basis of the robot kinematics and the theory of errors, formulas for calculating the position and orientation errors of the robot end effector are derived.
焊接位姿包括焊缝位置和焊枪姿态，可以用焊缝倾角、焊缝转角、焊枪工作角和焊枪行走角四个参数来表征。
Welding pose includes weld position and torch orientation, which is represented by weld slope, weld rotation, torch work Angle and traveling Angle.
提出了一种用六丝悬吊法控制形状复杂或不规则目标飞行物姿态的方案，建立了数学模型，着重论述了用反解迭代逼近绳长的算法进行位姿求解的思路。
We propose a six-wire suspension method to control the attitude of a flyer of complicated or irregular shape and set up its mathematical model.
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