在黎曼位形空间中研究了约束多体系统的动力学问题。
The dynamic problem of constrained multibody systems in Riemannian configuration space is researched.
本文针对受约束多体系统的违约问题提出了一种新的违约校正方法。
A new method is developed to correct the violations in constraint multibody systems.
针对受控多体系统，提出力约束的概念、力学描述及其性质。
In this paper, the concept of force constraint of a controlled multibody system is presented.
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