By a first homogeneous transformation matrix representing a position and orientation of a moving body in an absolute space, and a second homogenous transformation matrix representing a position and attitude of a manipulator in its operating space, position and orientation information of the moving body...http://www.google.de/patents/US5347616?utm_source=gb-gplus-sharePatent US5347616 - Method of controlling position and attitude of working robot and its manipulator and apparatus thereof
