为了实现快速重构，可重构模块化机器人不仅要实现机械结构构形的快速重构而且要实现控制系统的快速重构。
To realize rapid reconfiguration, a reconfigurable modular robot must reconfigure not only the mechanical structure configuration, but also the control system.
针对水下作业环境的特点，对机器人的本体结构、磁路结构、控制系统和清刷作业装置等关键技术进行了系统的研究。
According to the particular condition of underwater robot work, the paper studies the related key technology, including body structure, magnetic structure, control system, cleaning work set etc.
采用饱和型标量函数构成非线性滑模建立直流伺服机器人控制系统的自适应变结构数学模型。
Mathematical model of adaptive variable structure of control system for DC servo robot was established with nonlinear sliding mode formed with saturation type scalar functions.
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