以该机器人的动能作为泛函数，则其惯性矩阵M决定了泛函极值微分方程组的表达式。

Regard this kinetic energy as fun-function, then its inertia matrix M determines the differential equation.

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与传统计算力矩法相比，在不要求加速度测量和惯性矩阵求逆的情况下，算法给出清晰的跟踪误差收敛域。

Compared with the computed torque method, the algorithm can give error convergence bound clearly without acceleration measurement and inverse inertia matrix.

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本文取得如下成果：借助矢量法、约束方程和动能定理分别构造出机械手的位置逆解模型、速度雅克比矩阵、质量惯性矩阵。

With the aid of vector method, constraint equation, kinetic energy consideration, the inverse position model, Jacobian matrix and mass matrix have been developed.

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