The dynamic singularity of the flexible manipulators is studied.
对柔性机器人的动力奇异问题进行了研究。
According to the singularity perturbation theory, dynamic inversion is adopted to design the basic attitude controller including fast inverse loop and slow inverse loop.
利用多重时间尺度奇异摄动理论，结合非线性动态逆方法设计了基本姿态控制器，包括快逆回路和慢逆回路两部分。
Finally, all the bifurcation curves are obtained using the singularity theory, which provides theoretical basis for dynamic analysis and design of this kind of systems.
最后，运用奇异性理论得到了系统的全部分岔响应曲线，为这一类系统的动态分析与设计提供了理论依据。
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