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This method not only solves the singular problems of space robot, but also guarantees complete properties to path planning.

提出了空间机器人自主路径规划的仿真研究方法。

It is very necessary and significant to research space robot.

因此,研究空间机器人是十分有意义的。

The simulation of space robot can be carried out easily under this system.

通过该系统,可方便地实现空间机器人的仿真研究。

At the same time the characteristics of space robot, i.

这些研究为空间机器人有效地捕捉目标建立了理论基础。

Two kinds of three-branch space robot mechanism were described.

提出了两种三分支的空间机器人机构,并对其运动进行了分析。

The problems of capturing a moving target for space robot are researched.

本文提出了基于轨迹规划的自由漂浮空间机器人抓取运动目标物体的研究方法。

The control problem of space- based robot system was studied, and the kinematics and dynamics of the system were analyzed.

陈力讨论了载体位置与姿态均不受控制的自由浮动两杆空间机器人系统的控制问题。

Fourth, a novel three-branch space robot mechanism was proposed and analyzed.

第四、提出了一种新颖的三分支空间机器人机构,对该机构的运动进行了分析。

In this paper,by investigating the system dynamics in depth,we propose a simple velocity based method to control the unactuated joints and a multi step composite strategy to implement orientation tracking tasks.

通过分析系统的动力学结构,本文设计了一种全新的基于速度控制的方法控制未驱动关节,然后采用多步混合控制策略实现空间机器人的定位跟踪

For the space robot system without condition control, according to the principle of momenta conservation, The Kinematic model is constructed using the general Jacobian matrix.

对于载体无位置控制的空间机器人系统,根据动量守恒定律,应用广义Jacobian矩阵建立了系统的运动学模型。

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