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.

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通过二自由度平面机器人臂逆动力学求解的仿真，比较了CA - CMAC与传统CMAC的性能，结果表明，CA - CMAC具有更快的收敛速度。

Convergent condition was given and validated. The simulation results of the inverse kinematics of 2-dof planar robot arm prove that CA-CMAC converges more rapidly than traditional CMAC.

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