According to the momentum conservation law, the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.
依据系统动量守恒关系和拉格朗日第二类方程,推导了漂浮基双臂空间机器人系统的动力学方程。
In the second chapter, the dynamics of free-floating space robot system with dual-arm is established by use of the Lagrange's equation.
在本文的第二章,我们利用第二类拉格朗日方程推导了自由漂浮平面双臂空间机器人系统的动力学方程。
Kinematics of the space robot system with an attitude controlled robot is derived and the generalized Jacobian is given.
首先推导了基座姿态受控空间机器人系统运动学关系,得到了广义雅可比矩阵。
In the fifth and sixth chapter, trajectory tracking control in inertia space of the dual-arm space robot system is studied.
在第五章和第六章中,对双臂空间机器人系统在惯性坐标系内进行轨迹跟蹤控制问题进行研究。
The control problem for free-floating space robot system with dual-arms to track the desired trajectory in joint space was discussed.
讨论了自由漂浮双臂空间机器人系统关节轨迹跟蹤的控制问题。