"One of the universities we are working with is proposing a repairrobot that could be activated by sensors and sent to repair Tube tunnels," says Mr Wright.
Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repairrobot with six degree of freedom, and carry on theory analysis to the robot.
然后利用旋量理论推导了水轮机修复机器人六自由度手臂的动力学方程，并对此专用机器人动力学进行分析。
3
Play may continue during removal, repair and replacement. Note that the referee may choose to interrupt play if robot damage occurred because of a collision with an opposition robot.