The rotation dynamic and quaternion kinetic equations of spacecrafts were educed according to the principles of variable-structure control. 根據滑動(dòng)模態(tài)變結構控制原理，導出了航天器三軸動(dòng)力學(xué)和四元數姿態(tài)運動(dòng)學(xué)方程。
It specifies the establishment of the kinematic equations and the Jacobin matrix.It also gives a detailed discussion on the singularity of the mechanism. 文章具體闡述該操作臺的運動(dòng)學(xué)方程和雅可比矩陣的建立過(guò)程，并詳細討論了機構的奇異性。
