【摘要】 针对含闭式运动链的机器人动力学，介绍了一种改进的Ｎｅｗｔｏｎ－Ｅｕｌｅｒ法，经验证这种方法与目前解决该类问题的诸方法相比较，具有计算速度快的特点，尤其适用于自由度高的机器人，有利于实现机器人的实时控制更多还原

【Abstract】 In the paper, the basic Newton - Euler method for forming the model of simple kinematics chain dynamics in cloud form has been developed. It has ho proved that its velocity is the quickest of other methods. The method especially is applied for robot with more DOF, and is propitious to the real time control of robotis.更多还原