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.
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.
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