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机器人运动状态──位置和姿态的计算，是机器人机械学的基础性研究之一。国内外虽然现有多种计算方法，但它们的共同点是都麻烦。作者也曾提出过两种算法，虽具有明显的简化效果，但仍不理想。本文利用作者提出的类复向量矩阵及其特殊形式──基类复向量矩阵，实现了只应用单一数学工具的两个公式完成机器人运动状态的全部计算，从而把这项基础性研究推进到一个新水平。
Robot movement state ─ ─ position and attitude calculation, robotics is one of the basic research. Although there are many calculation methods available at home and abroad, they all have troubles in common. The authors have also proposed two algorithms, which are not ideal, though with obvious simplification. In this paper, by using the class complex vector matrix and its special form - base class complex vector matrix proposed by the author, the calculation of the robot kinematic state is completed by using two formulas that use only a single mathematical tool, so that the basic research is advanced to one New level.