【摘要】 本文介绍了一个机器人动力学高效建模软件的设计方法，理论基础及其软件性能。使用这种软件技术能迅速地建立机器人动力学方程，并且所得方程已经得到充分化简，方程的计算性能达到实时控制之水平。更多还原

【Abstract】 In this paper,the authors introduce the methods of designing,the basis of theories and the properties of a high efficiency modelling software. By using it,people can construct dynamic equations ofrobots very quickly,and these equations have been simplified to the fullest extent, the computation property arrives at the level of real- time control.更多还原