比较系统地学习了多刚体动力学的拉格朗日方法，即采用相对坐标的多刚体动力学建模方法。

Have studied the dynamics Lagrange method of many rigid body more systematically, namely the many rigid body dynamics modeling method to adopt relative coordinate.

youdao

探讨解决了一些设计上的问题，诸如构造场景图与几何建模、坐标变换迭代算法、碰撞响应处理等。

Some design problems were discussed and solved such as Scene Graph, Shape Modeling, iterative algorithm on coordinate transform and collision response etc.

youdao

采用多体动力学笛卡尔坐标建模形式。

Descartes coordinate modeling of multibody systems dynamics is adopted in the thesis.

youdao