Based on variable mass system mechanics theory, the robotic system is regarded as a variable mass object.
基于变质量系统力学理论，将这一类爬壁机器人系统看作变质量物体。
Then, the variable mass system dynamic model with nonholonomic constraints are developed for wheeled WCRs.
进一步针对轮式爬壁机器人，建立了非完整约束条件下的变质量系统分析动力学模型。
Then, the variable mass system dynamic model with nonholonomic constraints are developed for wheeled WCRs.
进一步针对轮式爬壁机器人，建立了非完整约束条件下的变质量系统分析动力学模型。
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