The major research works completed in this dissertation includes: six free-degree swing platform system design, kinematics theory, pose error analysis and control methods.
本文主要对六自由度摇摆试验台的系统设计、运动学理论、位姿误差及控制方法四方面进行分析和研究。
2
The reasons of hand leaving in horizontal bar giant swing backward such as technical error and muscle tension etc. Were analyzed.
In the parametric design, motion of the swing leg of biped robot is planned into a parabola to keep self balance in lateral plane and avoid coupling error;