求翻译：基于六自由度机械手建立机器人关节坐标系，研究机械手末端位姿与各关节变量之间的关系，推导了机械手末端位姿与各关节变量的坐标变换关系是什么意思？

Based on the six degrees of freedom manipulator, the robot joint coordinate system to study the relationship between the end of the robot position and orientation of each joint variables, and derivation of the coordinate transformation of the end of the robot position and orientation of each joint v

Based on 6 Degrees of Freedom robot, robot joints research robot coordinate system at the end bit position and all joints of the relationship between variables, derived from a robot at the end bit position and all joints of the coordinate transformation between variable

Establishes the robot joint coordinate system based on six degree of freedom manipulators, studies the manipulator terminal position posture with various joints variable between relations, has inferred the manipulator terminal position posture and various joints variable coordinate transformation re

Joint coordinate system establishment based on six degree of freedom manipulator robot, end pose of manipulator with joint research on relationships between variables, derivation of the end pose of manipulator with joint coordinate transformations of variables

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