Lagrangian dynamic equations of a robot with kinematic constraints are derived, in which generalized constraint forces are included.
推导了具有运动约束的机器人的拉格朗日动力学方程,该方程中包含了广义约束力。
2
For the stochastic system of the dynamic equation and the kinematicconstraint, the upper and lower bounds on its information matrix are given, via eigenvalue analysis.
针对运动约束与运动方程构成的系统,利用特征值分析方法给出了其信息矩阵的上下界限。
3
Although a planar pair might theoretically be included, this would impose no constraint and thus be equivalent to an opening in the kinematic chain.