1·Now, there's also spherical coordinates.
现在，考虑球坐标。
2·So now we're going to triple integrals in spherical coordinates.
现在，在球坐标中进行三重积分。
3·There we want to think a tiny bit about spherical coordinates again.
我们需要再次考虑球坐标。
4·OK, let's see, who had seen spherical coordinates before just to see?
我看看，谁曾经学过球坐标么？
5·This method is applied to a manipulator with spherical coordinates.
并将此方法应用到三自由度球坐标机械手上。
6·But let's do it in spherical coordinates because that's the topic of today.
但我们用球坐标来做，因为这才是今天的主题。
7·So, in fact, it simplifies quite a bit if you do it in spherical coordinates.
事实上用球坐标，简化了式子。
8·Well, we have to figure out how to set up our triple integral in spherical coordinates.
先看看怎么，在球坐标中建立三重积分。
9·That will give you a good idea of what kinds of things we've seen in spherical coordinates.
这将会给你一些，关于我们已经在球坐标中学过的东西的好的想法。
10·And, now we have to learn about spherical coordinates, which you will see are a lot of fun.
今天我们来学习下球坐标，这是个很有意思的东西。