空间机器人

The work discussed above is the theoretical foundation of path planning for free-floating space robot.

这些研究为后续的自由漂浮空间机器人的路径规划研究奠定了理论基础。

The study results on trajectory planning and the space robot motion in free-floating state are general purpose.

其中有关轨迹规划自由漂浮状态下的空间机器人运动两方面的研究具有一定的通用性。

According to the inherent characteristics of free-floating space robot, Bidirectional path planning method based on Lyapunov function is discussed.

根据自由漂浮空间机器人的固有特征，探讨了基于稳定的李亚普诺夫函数的双向路径规划方法。

The problems of trajectory planning for free-floating space robot are researched.

对空间机器人抓取运动目标物体的问题进行了研究。

The research method to capturing a moving target for free-floating space robot based on trajectory planning is presented.

对自由漂浮空间机器人避障问题进行了研究。

Firstly,based on the lagrangian formulation and the relationship of the system linear momentum conversation,the dynamic equation of a free-floating space robot is derived.

首先，由系统动量守恒关系和拉格朗日第二类方法，建立了漂浮基空间机器人的系统动力学方程。

With the linear and angle momentum conversation, the system state equations for control are gained. And then Through the Lyapunov approach, the input law of the manipulator joint motion and control for work is received.

为此，以空间机器人系统的动量、动量矩守恒关系为基础，转化建立了控制系统设计所需的状态方程，并利用Lyapunov 直接方法，来获得满足任务要求的机械臂关节运动及控制输入规律。

This paper presents a simulation platform of the space manipulator.

建立了空间机器人控制系统的硬件仿真平台。

In this paper, because of the different features of space robots compared with those fixed on earth, the main content of research work focused on kinematics modeling, dynamics modeling, path planning of free-floating space robot and adaptive control of space robot.

本文围绕空间机器人的特点，主要进行了运动学、动力学建模、自由漂浮状态下的路径规划和轨迹跟踪自适应控制等内容的研究。

The dynamics and it's control is an important and difficult problem in the field of robotics research.

本文对失重状态下空间机器人柔性臂动力学及控制问题进行了系统、深入地研究。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。