为了实现六自由度摇摆台结构的优化设计、实时仿真和控制，对六自由度摇摆台运动学和动力学特性作全面的了解是很有必要的。

For accomplishing its optimizing design, real simulation and control, you must have a full knowledge of the manipulating structure's kinematics and dynamics.

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依据拖曳系统的耦合特性和约束条件，建立了拖曳飞行动力学和运动学方程，提出了一种基于仿真的拖曳系统飞行性能计算方法。

According to the coupling characteristics and constrained conditions of the towing system, the models of dynamics and kinematics of the towing system were built up.

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因此，同时考虑机器人运动学和动力学模型，提出基于神经网络的轨迹跟踪算法，仿真结果表明算法具有较强的鲁棒性。

So, we design a trajectory tracking algorithm based on NNs, considering both kinematic and dynamical model, and the simulation results demonstrate that this algorithm has good robustness.

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