This paper mainly introduces the structural design of control system for a six-DOF active wrist and discusses the control strategy in detail.

本文主要介绍了六自由度主动手腕控制系统的结构设计，详细讨论了控制策略。

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A six degree of freedom (DOF) nonlinear dynamic model of the airship was presented based on the body axes coordinate system with the origin at the center of the volume.

在以体积中心为原点的机体坐标系中，建立了完整的六自由度非线性模型。

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Therefore, a widely and in-dept research on the control theory and parameter identification for the six-dof hydraulic motion platform to improve the performance has a great significance.

因此，深入地研究液压六自由度运动平台的控制策略及其相关的参数辨识方法，以提高液压六自由度运动平台的动态响应性能具有十分重要的意义。

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