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综合近年来国内外一些学者对冗余度操作臂动力学的研究，推导出经实践证明行之有效的冗余度操作臂动力学方程的简化形式，并对雅可比广义道的载荷独立性进行了分析，为操作臂的设计及实时控制提供了新思路．
Based on the research of redundancy manipulator dynamics in recent years, some scholars at home and abroad have deduced the simplified version of the redundant manipulator manipulator equations that have been proven effective. The independence of load of Jacobian generalized path The analysis provides a new idea for the operation arm design and real-time control.