In chaper1, we firstly present an overview of space robot gripper and its application.
第一章介绍了国内外空间机器人手爪的研究和应用现状。
Thus, the kinematics of free floating space robot is closely connected with its dynamics.
因此，自由漂浮空间机器人的运动学与其动力学是密不可分的。
Firstly, it discusses the concept and usage and motion characteristics of free flying space robot.
首先，论述了自由飞行空间机器人的概念、用途和运动特性。
Obstacle avoidance path planning for free flying space robot is realized by the use of ant algorithm.
本文采用蚁群算法实现了自由飞行空间机器人的避障路径规划。
The paper studies the nonlinear feedback control problem of free-floating dual-arm space robot systems.
讨论了载体姿态及位置均不受控制的自由漂浮双臂空间机器人系统的轨迹控制问题。
Mobile robot is often used as undersea robot, service robot, military robot, industry robot and space robot.
移动机器人的应用主要包括水下机器人、服务机器人、军事机器人、工业机器人和空间机器人等。
The theory of artificial Neural Network and its application in space robot control are studied in this thesis.
本论文对人工神经网络理论及其在空间机器人系统控制中的应用作了研究。
The control problem of coordinated motion of free-floating space robot with external disturbance was discussed.
讨论了自由漂浮双臂空间机器人系统关节轨迹跟踪的控制问题。
The dynamic control problem for coordinated motion of a free-floating dual-arm space robot system was discussed.
讨论了本体姿态受控、位置不受控的情况下，漂浮基双臂空间机器人系统协调运动的动力学控制问题。
The high-speed process of kinematic calculation and motion control is an important field of space robot research.
机器人运动控制的高速化处理是空间机器人技术领域重要的研究方向之一。
Different from the ordinary robot, the space robot must meet the need of lightweight, muscularity and versatility.
有别于普通机器人，空间机器人必须具备质轻、大、用好等特性。
Different from that of the fixed-base robot, the dynamic parameters exist in the kinematic equations of the space robot.
与地面固定基座机器人不同的是，空间机器人的运动学方程中含有动力学参数。
Kinematics of the space robot system with an attitude controlled robot is derived and the generalized Jacobian is given.
首先推导了基座姿态受控空间机器人系统运动学关系，得到了广义雅可比矩阵。
In the fifth and sixth chapter, trajectory tracking control in inertia space of the dual-arm space robot system is studied.
在第五章和第六章中，对双臂空间机器人系统在惯性坐标系内进行轨迹跟踪控制问题进行研究。
The 3-d space robot collision-free trajectory planning problem, by means of geometry-graphics method in 2-d space, is resolved.
借鉴二维空间的几何图形法解决了三维空间机器人无碰撞轨迹规划问题。
The control problem for free-floating space robot system with dual-arms to track the desired trajectory in joint space was discussed.
讨论了自由漂浮双臂空间机器人系统关节轨迹跟踪的控制问题。
In the second chapter, the dynamics of free-floating space robot system with dual-arm is established by use of the Lagrange's equation.
在本文的第二章，我们利用第二类拉格朗日方程推导了自由漂浮平面双臂空间机器人系统的动力学方程。
Therefore, the feasible way to control the space robot is ground teleoperation, which USES the human intelligence to achieve the high task planning.
因此，切实可行的方法是充分利用人的智能进行高层任务规划，采用地面遥操作空间机器人的方式完成空间作业。
Hence the uncertainties of the dynamic parameters of the target may bring fatal accidents to the motion planning for space robot during target capture.
在执行目标捕获任务时，目标动力学参数的不精确会给空间机器人的规划带来致命的影响。
According to the momentum conservation law, the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.
依据系统动量守恒关系和拉格朗日第二类方程，推导了漂浮基双臂空间机器人系统的动力学方程。
The whole rendezvous path planning strategy and safety principle of rendezvous path planning in ultimate approaching stage of free floating space robot are researched;
首先研究自由漂浮空间机器人整体交会路径规划策略和最终接近阶段交会路径规划的安全性原则；
Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.
利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。
In the presence of large time delay and finite bandwidth, how to guarantee the stability and good performance is the bottleneck in the current research of space robot teleoperation.
在大时延和有限带宽的条件下，如何保证系统的稳定性和良好的操作性能是当前空间机器人遥操作研究中的瓶颈问题。
This paper presents a new method of identifying the mass of free flying space robot body using multilayer feedforward neural network based on its attitude disturbance characteristic.
根据空间机器人姿态干扰特性，本文提出了利用多层前向神经网络来辨识自由飞行空间机器人本体质量的算法。
The hand-eye vision is used to provide the image information of object and measure the position and orientation of object, which is very important for the space robot to capture the objects.
手眼视觉用于提供目标物体的图像信息和测量物体的位置和姿态，对于空间机器人捕获物体非常重要。
In this dissertation, the ground demonstration platform of satellite self-serving teleoperation is built, and virtual reality and local autonomy based space robot teleoperation is investigated.
本文针对卫星在轨维护任务，建立了卫星自维护的地面遥操作演示平台，对基于虚拟现实和局部自主的空间机器人遥操作进行了研究。
Language (Space Robot Lontrol Language ) and its structure are proposed, which is the software base for three control modes of space robot: teleoperation, autonomous operation, and shared operation.
空间机器人控制语言是实现空间机器人三种控制方式：遥控操作，自主操作和协同操作的软件基础，本文描述了该语言的基本结构。
Space robots are useful tools for human to explore the universe and utilize the space resource. The level of space robot technology represents the level of a country's science, technology and economy.
空间机器人是人类探索宇宙、利用太空资源的重要工具，是国家科技水平和经济实力的具体体现。
That will be the first humanoid robot in space and will deal with the housekeeping chores so the astronauts can focus on their work.
届时，它将成为第一个进入太空的人形机器人，负责处理‘家庭’杂务，以便让宇航员专注于自己的专业工作。
That will be the first humanoid robot in space and will deal with the housekeeping chores so the astronauts can focus on their work.
届时，它将成为第一个进入太空的人形机器人，负责处理‘家庭’杂务，以便让宇航员专注于自己的专业工作。
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