最终，得到稳定的主运动轨迹。
分析了封包绳提前断裂状态下降落伞系统的运动特性，建立伞舱组合体在拉直阶段的动力学模型，计算了主伞的运动轨迹，分析了拉出的主伞与伞舱口的碰撞情况。
Under the conditions of early rupture of the reefing lines, motion characteristics of parachute system were analyzed, and mathematic model of parachute-capsule system in the deployment was built.
主起重机的期望轨迹在一定启发式信息的引导下预先规划，从起重机轨迹则根据运动约束关系计算出来，它只能跟随主起重机运动。
The path of main crane is planned according the heuristic information beforehand, the movement of following crane is planned according the movement of the main crane and the load.
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