This algorithm avoids soling differential equation frequently as well as redundant orbit, and it is easy to control the accuracy and to get the picture of manifold.
该算法避免了频繁求解微分方程问题，没有求解多余的轨道，且求解的精度也容易控制，得到的流形图直观。
2
Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.
基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。
3
The dynamic equation of this PMT with redundant actuation is built by Lagrange equation. A novel force distribution method is proposed for redundant actuation.