With appropriately selecting the partitioned generalized velocity , the bridle between the parachute and payload can be considered as elastomer or rigid body in a single simulation program . it is presented a general research method for analysis of different parachute - payload systems 選擇合適的廣義速度坐標(biāo),在同一個(gè)仿真程序中,可以將降落傘和載荷之間的連接帶考慮成剛性或是彈性的,且為不同的物傘系統(tǒng)的分析提供了通用的研究方法。
In the task space , the attitude space of the robot end - effector is parameterized by rodrigues parameters , and an output feedback controller without the generalized velocity is designed for controlling the position and attitude of the end - effector of a rigid robot 利用機(jī)器人控制系統(tǒng)固有的無源性,在作業(yè)空間中,采用rodrigues參數(shù)描述末端執(zhí)行器的姿態(tài),設(shè)計(jì)了用于機(jī)器人末端執(zhí)行器位姿控制的輸出反饋控制律,消除了控制器中的廣義速度。