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1·Based on the theory of homogeneous transformation and DH method in robot kinematics, the coordinate measuring model of articulated arm system is established, the system measuring space is given.

利用机器人运动学中的齐次坐标变换理论和D - H坐标描述方法建立了关节机械臂系统的坐标测量数学模型，并给出了系统测量空间。

2·The result is that the homogeneous presentation and its perspective transformation for the simplest figure—the point are enriched in computer drawing.

它丰富了目前计算机绘图中对最简单圆形——点的齐次表示及其透视变换。

3·An error synthesis model for the machining centers is set up by using homogeneous coordinate transformation and tool workpiece connection vector.

本文将齐次坐标变换理论结合刀具与工件联结链矢量概念建立了加工中心误差运动综合补偿模型。

4·In the solving process of homogeneous equation set, the operational procedure for elementary line transformation is sometimes not simple and convenient as it seems to be.

在齐次方程组求解的过程中，初等行变换的运算过程有时显得并不简便。

5·It's basic idea is to change a nonlinear equation into homogeneous form through a suitable transformation.

它的基本思想是运用合适的变换将非线性方程转变成齐次形式。

6·The error calculating method using the homogeneous coordinate transformation matrix together with forward and inverse kinematics and the corresponding error compensation strategies were proposed.

提出了利用齐次变换矩阵和正向、逆向运动学相结合的误差计算方法以及相应的误差补偿策略；