本文以六自由度喷涂机器人为研究对象，对其结构及控制系统进行了研究。

This dissertation studied the structure and control system of the 6 dof painting robot.

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给出了船舶六个自由度的运动方程。

The equation of ship motion with six freedoms is listed.

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本文讨论了六个自由度船舶非线性运动方程。

A nonlinear equation of ship motions with six-degree-of-freedom was studied.

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给出了船舶六个自由度的运动方程。

The freedom movement will be strong and vital and vigorous.

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给出了船舶六个自由度的运动方程。

The freedom movement will be strong and vital and vigorous.

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