An autonomous machine comprising: > at least one movable component; > a representation unit coupled to the at least one movable component; > a transformation unit communicatively coupled to the representation unit; and > at least one driving mechanism ( α 1 - α 6) coupled to the at least one movable component and the transformation unit for moving the at least one component; wherein each of the at least one movable component has a pose ( x, y, z; ψ, θ, φ) in a coordinate frame ( x-o-y-z), and the pose ( x, y, z; ψ, θ, φ) is configured to divide into a position ( x, y, z) and an orientation ( ψ, θ, φ); and the pose ( x, y, z; ψ, θ, φ) is represented in the representation unit to a represented pose in quaternion ( x, y, z; q w, q x, q y, q z) in the coordinate frame ( x-o-y-z); wherein the at least one movable component comprises > a moving body (I 1 - I 6) configured in the coordinate frame ( x-o-y-z); and > a manipulator mounted on the moving body (I 1 - I 6), wherein the manipulator is configured in a manipulator coordinate frame (x'-o'-y'-z'), characterized in that the moving body (I 1 - I 6) and the manipulator are coupled to the representation unit for representing the coordinate frame ( x-o-y-z) and the manipulator coordinate frame (x'-o'-y'-z') to a represented coordinate frame ( x, y, z; q w, q x, q y, q z) and a represented manipulator coordinate frame ( x', y', z'; q' w, q' x, q' y, q' z), respectively; and the coordinate frame ( x-o-y-z) is configured to transform to the manipulator coordinate frame (x'-o'-y'-z') via a general transformation ( x i, y i, z i; q wi, q xi, q yi, q zi) (138, 206) of the transformation unit by firstly translating the coordinate frame ( x-o-y-z) according to the represented translation ( x i, y i, z i) and secondly rotating the coordinate frame ( x-o-y-z) according to the represented rotation ( q wi, q xi, q yi, q zi), wherein the translating process and the rotating process are conducted in mathematical addition. > at least one movable component; > a representation unit coupled to the at least one movable component; > a transformation unit communicatively coupled to the representation unit; and > at least one driving mechanism ( α 1 - α 6) coupled to the at least one movable component and the transformation unit for moving the at least one component; wherein each of the at least one movable component has a pose ( x, y, z; ψ, θ, φ) in a coordinate frame ( x-o-y-z), and the pose ( x, y, z; ψ, θ, φ) is configured to divide into a position ( x, y, z) and an orientation ( ψ, θ, φ); and the pose ( x, y, z; ψ, θ, φ) is represented in the representation unit to a represented pose in quaternion ( x, y, z; q w, q x, q y, q z) in the coordinate frame ( x-o-y-z); wherein the at least one movable component comprises > a moving body (I 1 - I 6) configured in the coordinate frame ( x-o-y-z); and > a manipulator mounted on the moving body (I 1 - I 6), wherein the manipulator is configured in a manipulator coordinate frame (x'-o'-y'-z'), > a moving body (I 1 - I 6) configured in the coordinate frame ( x-o-y-z); and > a manipulator mounted on the moving body (I 1 - I 6), wherein the manipulator is configured in a manipulator coordinate frame (x'-o'-y'-z'), characterized in that the moving body (I 1 - I 6) and the manipulator are coupled to the representation unit for representing the coordinate frame ( x-o-y-z) and the manipulator coordinate frame (x'-o'-y'-z') to a represented coordinate frame ( x, y, z; q w, q x, q y, q z) and a represented manipulator coordinate frame ( x', y', z'; q' w, q' x, q' y, q' z), respectively; and the coordinate frame ( x-o-y-z) is configured to transform to the manipulator coordinate frame (x'-o'-y'-z') via a general transformation ( x i, y i, z i; q wi, q xi, q yi, q zi) (138, 206) of the transformation unit by firstly translating the coordinate frame ( x-o-y-z) according to the represented translation ( x i, y i, z i) and secondly rotating the coordinate frame ( x-o-y-z) according to the represented rotation ( q wi, q xi, q yi, q zi), wherein the translating process and the rotating process are conducted in mathematical addition.