根据目标的运动来规划机械臂末端在惯性空间的期望轨迹。
Desired trajectory of the robot end effector in inertial space is planed based on the movement of the object.
运用质心运动定理，分析了质点在可自由移动的凹曲面上滑下时，质点对惯性系的运动轨迹方程。
The possible tracks of a particle BXm_(2), sliding down along a free movable concave surface with the mass m_(1) are analyzed.
给出了在地球逃逸段、惯性漂移段和月球捕获段的运动轨迹和关键点的参数。
Trajectories and some key parameters of the three stages, the earth escape stage, coast arc stage, and lunar capture stage, are presented as well.
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