Nonholonomic redundancy and a collision free motion planning method for under-actuated redundant manipulator were studied in this paper aiming at the Space-Robot-Systems.
针对空间机器人系统，研究了欠驱动冗余度机械臂的“非完整冗余”特征和无碰撞路径最优运动规划方法。
In the field of control systems, due to the non-linear characteristic of the under-actuated system, the analysis and solution become more complicated.
在控制系统领域，由于欠驱动机构的非线性特点使对其分析和求解的过程变得较为复杂。
In the field of control systems, due to the non-linear characteristic of the under-actuated system, the analysis and solution become more complicated.
在控制系统领域，由于欠驱动机构的非线性特点使对其分析和求解的过程变得较为复杂。
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