在研究机器人的广义位姿的基础上,依据从基坐标系到任一坐标系的旋转变换可以通过绕基坐标系中的瞬时转动轴的等效旋转来实现的原理,提出用等角位移矢量来描述机器人姿态以及用姿态矢量及其Pluck切线坐标来描述机器人的位姿。依据对偶代数理论中关于三维欧化空间中的有向直线与三维对偶空间中的点具有一一对应关系的对偶映射原理,在对偶空间中对姿态旋量所 Based on the study of generalized pose of robot, based on the principle that the rotation transformation from base coordinate system to any coordinate system can be realized by the equivalent rotation of instantaneous rotation axis in the coordinate system of the base, the isometric displacement vector To describe the robot’s pose and pose vector and its Pluck tangent coordinates to describe the pose of the robot. According to the dual mapping principle of one-to-one correspondence between directed straight lines in 3D Euclidean space and points in 3D dual space in dual algebra theory,