These equations are expressed in matrix form, so that it can be carried out with computer. Multi-body system of tree shaped and manipulation robots are served as examples.
这种方程可以采用矩阵形式写出以便面向计算机，文中以树状多刚体系统及操作机器人为例子说明其应用。
2
Both methods can be solved explicitly by a pseudo-inverse matrix and are of invertible, commutative, and associative properties, which enhance the efficiency and controllability of the manipulation.