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。
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