本文主要研究非平整地面六轮腿式自主移动机器人的越障运动学、动力学建模与控制的问题。

This paper mainly studies the kinematics and dynamics modeling of the obstacle negotiation for an uneven ground six-wheeled-legged autonomous mobile robot and correlative control problem.

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本文主要针对非完整移动机器人进行运动学和动力学建模、分析与轨迹跟踪控制器设计的研究。

Analysis, kinematic and dynamical modeling and trajectory tracking controller designing for a mobile robot are studied in this thesis.

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太阳帆航天器动力学建模与求解是姿态控制与结构振动抑制的基础，具有重要的理论与工程意义。

Solar sail spacecraft dynamic modeling and solving are the basis of attitude control and structural vibration suppression, and they are of important theoretical and engineering significance.

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