结合系统线动量及角动量守恒关系，通过拉格朗日法建立了系统的动力学模型。
With the relationship of the system linear and angular momentum conservation, a system dynamics model was established by Lagrangian formulation.
依据系统动量守恒关系和拉格朗日第二类方程，推导了漂浮基双臂空间机器人系统的动力学方程。
According to the momentum conservation law, the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.
然后以压碎区应力与变形的真实状态为基础，运用动量与质量守恒关系推导了爆破压碎区新型的速度场关系式。
According to true state of the stress and the strain near the cavity, a new formula of velocity field has been deducted by use of the conservation laws of momentum and mass.
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