变换方程 meaning in English

transformation equation
transformational equation

With the structure character of coiling robot , the transformed equations of robot movement is established by using equal - power coordinate transformation . the path scheduling method of robot is deeply researched and then imitates the robot ' s movement path by using b - splint function on the disperse point gotten by scheduling on robot ' s coiling movement path to ensure the robot ' s movement track to be a clean and continuous line . then the track is optimized by dynamic scheduling method
结合绕线机器人的结构特点，利用齐次坐标变换建立起机器人运动变换方程，探讨了机器人路径规划的一般方法，并利用b样条函数对机器人绕线运动路径规划所得的离散路径点进行逼近，以保证机器人运动轨迹是一条光滑连续的曲线，并利用动态规划方法对机器人进行时间最优轨迹规划。