The attitude stability of the multi-degree-of-freedom robot is the main research of this thesis, it will be a wide use on surface or under water work and the ship hanging goods.
本文主要研究多自由度机器人末端姿态稳定控制的问题，在水面及水下平台作业、船舶吊放货物等领域将有广泛的应用前景。
A 5-degree freedom multi-joint instructional robot characterized typical structure of industrial robot was developed for the requirement of teaching of robotics and related courses.
为满足机器人学及相关课程教学的需要，研制了一种具有工业机器人典型结构特征的5自由度多关节教学机器人。
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