【摘要】 分析了机器人动力学数值计算中“能量耗散”的原因，论证了机器人系统动力学系数之间的恒等关系，建立了机器人系统（非完整系统）动力学的正则方程。正则方程与辛算法密切结合，消除了动力学计算的误差累积，保证了计算精度。更多还原

【Abstract】 The cause of “Energy consumptipn” is analyzed in the numerical computation of robot dynamics. The relationship among coefficients of dynamic equations is derived, and the canonical equations are developed. The error accumulation of dynamics can be eliminated by using canonical equation and symplectic integral method so that the computational accuracy can be ensured effectively.更多还原