On the base of strongly sub-orthogonal matrix, given the concept of sub-strongly sub-orthogonal matrix, obtained its properties.
在强亚正交矩阵的基础上，给出了次强亚正交矩阵的概念，讨论了次强亚正交矩阵的一些性质。
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。
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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