任务空间动力学模型:
Hx(q)x¨+Cx(q,q˙)x˙+gx(q)=J−Ta(q)u H x ( q ) x ¨ + C x ( q , q ˙ ) x ˙ + g x ( q ) = J a − T ( q ) u
Hx(q)=J−Ta(q)H(q)J−1a(q) H x ( q ) = J a − T ( q ) H ( q ) J a − 1 ( q )
Cx(q,q˙)=J−Ta(q)C(q,
任务空间动力学模型: