机器人动力学主要研究动力学正问题和动力学逆问题两个方面，需要采用严密的系统方法来分析机器人动力学特性。
Kinetics of robot research dynamics problem and inverse problem of two aspects, the need to adopt strict system method for the analysis of robot dynamics.
本文提出一种结构局部动力修改逆问题的求解方法。
A method for solving inverse problems of structural local dynamic modification is proposed in this pa-per.
逆动力学问题的研究方法在系统的稳定、最优控制、故障检测以及测量中有着重要的作用。
The research methods of Inverse dynamics problems have important effects on system stability, optimum control, fault diagnosis and thermodynamic measuring.
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