In this paper, the control of coordinated motion of spacecraft attitude and the end-effector of a free-floating space-based robot system is discussed.
本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。
Combining the relationship of the linear momentum conversation and the Lagrange approach, the full-controlled dynamic equation of space-based robot system with dual-arms were analysed and established.
利用拉格朗日方法并结合系统动量守恒关系，分析、建立了漂浮基双臂空间机器人完全能控形式的系统动力学方程。
Based on the geometrical properties of the constrained system in configuration space, the motion and the constraining forces of robot system are studied.
基于在位形空间中受约束系统的几何性质，对机器人系统的运动及所受的约束力进行研究。
Based on the relations between parameters of mechanisms and topology of configuration space, the singularity-free parameters design problem of a general parallel robot is studied.
研究了并联机器人的参数优化设计问题。分析了机构参数与位形空间拓扑性态之间的关系。
Based on analysis positive and reversal motion of KLD-600 robot, planning of trajectory is analyzed in detail by the method of joint space and the basic model of the control program is created.
在对KLD- 600机器人的正逆运动学分析的基础上，采用关节空间法分析了轨迹规划，建立了控制程序基础模型。
The paper proposes a concept space-based subject crawler structure, which is used to a rapid, effective subject information search robot system.
采用了基于概念空间的主体爬虫结构，构造了一个快速、有效的主题信息搜索机器人系统。
A compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate the push and pull process of forcible alignment in space docking.
为模拟空间对接强制校正阶段的推出和拉近过程，提出基于6自由度并联机器人位置内环的柔顺力控制策略。
Based on the theory of homogeneous transformation and DH method in robot kinematics, the coordinate measuring model of articulated arm system is established, the system measuring space is given.
利用机器人运动学中的齐次坐标变换理论和D - H坐标描述方法建立了关节机械臂系统的坐标测量数学模型，并给出了系统测量空间。
This paper presents a new method of identifying the mass of free flying space robot body using multilayer feedforward neural network based on its attitude disturbance characteristic.
根据空间机器人姿态干扰特性，本文提出了利用多层前向神经网络来辨识自由飞行空间机器人本体质量的算法。
In this paper, an effective geometry-graphics method based on Euclid space for welding robot collision-free trajectory planning is studied.
研究解决了基于工作空间焊接机器人无碰撞轨迹规划问题的有效途径几何图形法。
Finally, based on correspondence command code transferring to robot operations, the blade space type face of robot auto-reappear and quenching were realized.
最后通过相应指令代码调用机器人作业，完成叶片空间型面的机器人自动再现及淬火。
Desired trajectory of the robot end effector in inertial space is planed based on the movement of the object.
根据目标的运动来规划机械臂末端在惯性空间的期望轨迹。
Firstly, based on analysis of arc welding robots structure characteristics, the requirements of working space and the task feature, a 5-freedom pending robot structure is proposed.
首先，分析了弧焊机器人的结构特点，并根据工作空间要求、作业特点，确定了一种5自由度悬挂式构形。
Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.
利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。
Aiming at the large time delay in the space teleoperation, teleoperation system based on dexterous robot hands was proposed adopting 3d graphic predictive simulation.
针对空间遥操作普遍存在的通讯大延时问题，采用3d图形预测显示的方法，建立了基于灵巧手的遥操作仿真系统。
In this dissertation, the ground demonstration platform of satellite self-serving teleoperation is built, and virtual reality and local autonomy based space robot teleoperation is investigated.
本文针对卫星在轨维护任务，建立了卫星自维护的地面遥操作演示平台，对基于虚拟现实和局部自主的空间机器人遥操作进行了研究。
During free space operation, the robot is control though the optimal approaching velocity based on vision.
在自由运动阶段，采用基于视觉的机器人最优接近速度控制。
The experiments results show that fiber laser based on highly flexible robot can easily obtain high-quality laser welding of body-in-white in 3-D space.
实验结果表明：光纤激光器配合高柔性机器人，可以实现白车身三维空间内的高质量焊接；
The experiments results show that fiber laser based on highly flexible robot can easily obtain high-quality laser welding of body-in-white in 3-D space.
实验结果表明：光纤激光器配合高柔性机器人，可以实现白车身三维空间内的高质量焊接；
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