With appropriately selecting the partitioned generalized velocity , the bridle between the parachute and payload can be considered as elastomer or rigid body in a single simulation program . it is presented a general research method for analysis of different parachute - payload systems 選擇合適的廣義速度坐標,在同一個仿真程序中,可以將降落傘和載荷之間的連接帶考慮成剛性或是彈性的,且為不同的物傘系統的分析提供了通用的研究方法。
In the task space , the attitude space of the robot end - effector is parameterized by rodrigues parameters , and an output feedback controller without the generalized velocity is designed for controlling the position and attitude of the end - effector of a rigid robot 利用機器人控制系統固有的無源性,在作業空間中,采用rodrigues參數描述末端執行器的姿態,設計了用于機器人末端執行器位姿控制的輸出反饋控制律,消除了控制器中的廣義速度。