Lagrangian dynamic equations of a robot with kinematic constraints are derived, in which generalized constraint forces are included.
推导了具有运动约束的机器人的拉格朗日动力学方程，该方程中包含了广义约束力。
Lagrangian dynamic equations of a robot with kinematic constraints are derived, in which generalized constraint forces are included.
推导了具有运动约束的机器人的拉格朗日动力学方程，该方程中包含了广义约束力。
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