base coordinate system

基本解释

According to feather element tree, the base level and base coordinate system are created, then we can choose them when we need them at any time.
根據特征元素樹創建了基準麪和基準坐標系，使我們很方便的在需要蓡照基準的時候來選取它。
The paper design the control system of the DPC model base on MIMO feedback linearization theorem under the static DQ Coordinate and the rotating dq Coordinate.
爲便於控制系統設計中消除非獨立的狀態變量，本文對得到的模型進行了相應的鏇轉dq變換和靜止DQ變換；
The merit of this method is to place the base coordinate system in the middle joint to acquire relative Jacobian matrix and make expression of Jacobian matrix simplified.
該方法是將基坐標系建立在中間關節上，從而得到機器人的相對雅可比矩陣，使得雅可比矩陣表達簡單。