建立了机器人的运动学模型和动力学模型，并利用能控性理论对机器人的姿态能控性进行了分析，为后续的机器人的控制提供了理论基础。
The dissertation constructed the robotic dynamics and motivation, used the controllable theory to analyze the robotic position control, which is the basis for later control theory.
不过随着年龄增长。对于老一辈机器人的热爱反而逐渐增加。慢慢对这些机器人有了好感。甚至喜爱。如果一个人喜欢高达，那么充其量也就是个高达控；
As I grew up, I became to accept these old robots, even love them. A person loves gundam, then he is a Gundam-con at most;
不过随着年龄增长。对于老一辈机器人的热爱反而逐渐增加。慢慢对这些机器人有了好感。甚至喜爱。如果一个人喜欢高达，那么充其量也就是个高达控；
As I grew up, I became to accept these old robots, even love them. A person loves gundam, then he is a Gundam-con at most;
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