An automatic guidance method for tractor was developed based on a vehicle kinematical model and the optimal control theory.
利用车辆运动学模型，应用最优控制理论，对拖拉机自动引导行走方法进行了研究。
Firstly, the kinematical characteristics of this mechanism in its initial position and in the position after a translation happened were analyzed by reciprocal screw theory.
首先，用反螺旋理论分析了在初始位置和发生位移后该机构的运动特性。
Most of them were theory researches, mainly on kinematical planning and optimization, especially in the case of obstacle avoidance.
其中大部分是理论研究，主要集中于运动学的规划与优化，尤其是避障的情况下的研究。
Most of them were theory researches, mainly on kinematical planning and optimization, especially in the case of obstacle avoidance.
其中大部分是理论研究，主要集中于运动学的规划与优化，尤其是避障的情况下的研究。
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