Explicit formulas for the constraint admittance matrix and the nodal short-circuit current source vector of networks containing ideal voltage sources are derived by nodal approach.
本文用节点法分析了含理想电压源的网络，从网络的不含源导纳矩阵获得了含源网络的约束导纳矩阵以及节点短路电流源向量的公式。
The contact force algorithm proposed in this paper is compatible with the explicit integration scheme, and the contact constraint conditions are well satisfied.
本文给出的接触力算法既与显式时间积分格式相容，又能充分满足接触约束条件。
The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.
广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。
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