空间向量法求解坐标变换

介绍一种利用空间向量求解坐标变换关系的方法，简化了传统的坐标系之间坐标变换关系求解的复杂计算，减小了采样误差对计算结果的影响．为建立各物体之间的位姿关系描述提供了有效的数学计算手段

This paper presents a method for finding the solution of coordinate transformation based on space vector.This method simplifies the traditional complex calculation,and reduces the influence of sampling error on the calculation result.It provides an efficient mathematics method for establishing the pose description of objects.        [