Based on the fully Cartesian coordinates, a differential/algebraic equation system of multibod.
利用完全笛卡尔坐标描述多刚体系统，建立多刚体系统动力学微分-代数方程。
The formulation of kinematics and dynamics of multibody system based on the fully Cartesian coordinates has an important advantagement in computational efficiency.
最后，通过对一个闭环柔性多体系统的动力学与控制仿真计算的实现，表明上述方法的可行性。
The formulation of kinematics and dynamics of multibody system based on the fully Cartesian coordinates has an important advantagement in computational efficiency.
最后，通过对一个闭环柔性多体系统的动力学与控制仿真计算的实现，表明上述方法的可行性。
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