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This algorithm avoids soling differential equation frequently as well as redundant orbit, and it is easy to control the accuracy and to get the picture of manifold.
该算法避免了频繁求解微分方程问题，没有求解多余的轨道，且求解的精度也容易控制，得到的流形图直观。
Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.
基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。
The dynamic equation of this PMT with redundant actuation is built by Lagrange equation. A novel force distribution method is proposed for redundant actuation.
运用拉格朗日法建立了该冗余驱动并联机床的动力学模型，并提出了一种新的冗余驱动力规划方法。
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