基于坐标变换的装载机驾驶训练运动过程仿真

分析装载机驾驶训练系统中影响装载机运动状态的因素和仿真控制方式，推导出运动过程中装载机车架相对转向位置及其空间位置变化的坐标表达式，利用齐次坐标变换求解装载机工作装置各关节的位姿坐标，建立运动过程的数学模型，实现利用虚拟现实技术对装载机运动过程的仿真。

The movement simulation to loader driving training based on coordinate transformation

Influencing factors and simulation control methods of the loader movement are analyzed in the loader driving training system.The relative position of the frame and the coordinate expression of the spatial position variation are deduced when the loader is driving.Using homogeneous coordinate,the joint's position and pose of the loader implement system are obtained.The mathematical model is established and the movement simulation based on the virtual reality technology is realized.