The exponentialmatrix function exhibition series was applied to solve the static problem; adopt the state space iterative method was applied to solve dynamic problem.
对静力问题，将指数矩阵函数展成级数来求解；对动力问题，采用状态空间迭代法来求解。
2
The procedure for calculating the exponentialmatrix guarantees that the simulation accuracy is not restricted by the calculating step length, then the calculating efficiency has been raised greatly.
所设计的计算矩阵指数的子程序保证了系统仿真精度不受计算步长的限制，从而大大提高了计算效率。
3
Both complex exponential form transformation and the coordinate matrix transformation are applied to the example of manipulator.