By Lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double - foot support, and this model is easy to control.
运用拉格朗日动力学方程对简化的机器人模型分别在单、双脚支撑期进行了动力学建模，得到了一个便于控制的动力学模型。
Nonlinear dynamic equations of a free-floating space robot with two manipulators and a flexible end-manipulator are established based on Lagrange and assumed mode methods.
利用拉格朗日法和假设模态方法建立了末端柔性的两臂漂浮基空间机器人的非线性动力学方程。
Based on the piston theory of supersonic flow, the second Lagrange equation is used to set up the dynamic equations of an airfoil with store in the supersonic or hypersonic flow.
基于超音速气动力活塞理论，采用第二类拉格朗日方程建立了带外挂二元翼系统在超音速和超高音速气流作用下的动力学方程。
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