参数的计算
E j = 1 2 ( m j j v j T j j + j ω j T j 0 j j ω j + 2 j m s j T ( j v j × j ω j ) ) = e j χ j E_{j}=\frac{1}{2}\left(m_{j}^{j} \mathbf{v}_{j}^{T} j_{j}+^{j} \omega_{j}^{T} j_{0_{j}}^{j} \omega_{j}+2^{j} \mathbf{m s}_{j}^{T}\left(^{j} \mathbf{v}_{j} \times^{j} \omega_{j}\right)\right)=\mathbf{e}_{j} \chi_{j} Ej=21(mjjvjTjj+jωjTj0jjωj+2jmsjT(jvj×jωj))=ejχj
U j = − [ 0 g T 0 ] 0 T j ( q ) [ j j m s m j ] = u j χ j U_{j}=-\left[\begin{array}{cc} ^{0} \mathbf{g}^{T} & 0 \end{array}\right]^{0} \mathbf{T}_{j}(\mathbf{q})\left[\begin{array}{c} ^{j \mathbf{m} \mathbf{s}}_{j} \\ m_{j} \end{array}\right]=\mathbf{u}_{j} \chi_{j} Uj=−[0gT