Planar motion also requires that axes of all prismatic pairs and all revolute axes be normal to the plane motion. 平面運動(dòng)需要所有的棱形副的軸和轉動(dòng)副的軸都垂直于運動(dòng)平面。
The equations of the AUV motions in the body-fixed horizontal plane are established, and they are linearized over a specified operating point to suit for the controller design. 建立了自治水下機器人在體坐標系下水平面運動(dòng)的運動(dòng)方程，并在特定的工作點(diǎn)對方程進(jìn)行了線(xiàn)性化處理，得到了自治水下機器人的控制設計模型。
