In this paper, the concept of force constraint of a controlled multibody system is presented.
针对受控多体系统，提出力约束的概念、力学描述及其性质。
The steady motion and the transient motion of the controlled multibody system with delay and without delay are computed with examples.
实例计算延迟和无延迟受控多体系统的稳态运动和瞬态运动。
The steady motion and the transient motion of the controlled multibody system with delay and without delay are computed with examples.
实例计算延迟和无延迟受控多体系统的稳态运动和瞬态运动。
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