一个倾斜的平面坐标系统可以改变吗？
详细推导了机器人平面手眼视觉系统变换关系，完成了从视觉平面坐标系到机器人参考坐标系的坐标变换。
The robot plane eye-in-hand visual system transformation is deduced in detail and the coordinate transformation is achieved from the visual plane to the robot reference coordinate system.
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