A set of relative joint coordinates is introduced in solving problems on dynamics of multi-rigidbody systems described with absolute Cartesian coordinates.

• 用嵌入约束法进行速度变换,对用笛卡尔绝对坐标描述的多刚体系统动力学引入铰链相对坐标,得到兼用两类坐标描述的动力学模型。