And the mathematical model of robot kinematics is established.

建立了机器人小车的运动学数学模型。

Topics include planar and spatial kinematics, and motion planning;

主题包含平面及空间运动学、动作规划；

Then the simulation of rigid body kinematics and elastic body kinematics are carried out.

并进行了刚体运动学和弹性体运动学仿真分析研究。

Secondly, put forward the walking planning idea combining forward kinematics with inverse kinematics.

其次, 提出了正运动学与逆运动学相结合的步态规划方法.

Thirdly, kinematics equations of the robot are set up using coordinate transform matrix, forward-inverse kinematics solution and Jacobian matrix are given.

再次，通过齐次坐标变换矩阵，建立了所选方案的运动学方程式，给出了运动学正逆解和雅可比矩阵。

The attitude kinematics and dynamics are both described by error quaternions.

姿态运动学和动力学用误差四元数描述.

A new way to build a model of inverse kinematics of a robot was proposed.

提出了一种机器人逆运动学问题建模的新方法。

Therefore, the bearing kinematics must be iteratively determined by numerical methods.

因此，举止运动学一定反复地被数字方法决定。

The authors build the inverse kinematics model of the flexible macro manipulator system.

建立了悬索柔性机器人系统的逆运动学模型 ；

Kinematics and dynamics of mechanical systems including rigid bodies in plane motion.

机械系统的运动学与动力学包括刚体的平面移动.