Introduce the definitions of active wrench, inertial wrench, partial velocity twist, partial velocity twist matrix, and screw theory Kane dynamic equations for open-chain manipulators.

• 摘要简介了主动力旋量、惯性力旋量、偏速度旋量、偏速度旋量矩阵及开链机器人旋量理论凯恩动力学方程。