Dynamic parameter identification code for rokae xmate manipulator based on MATLAB, including excitation trajectory optimization, LSM method, and N-E formulation of dynamic equation.
当你使用牛顿欧拉方法推导动力学方程，计算质心加速度时，图片上的公式好像出现了错误。
When you use the Newton Euler method to derive the dynamic equation and calculate the acceleration of the center of mass, the formula on the picture seems to be wrong.
当你使用牛顿欧拉方法推导动力学方程，计算质心加速度时，图片上的公式好像出现了错误。 When you use the Newton Euler method to derive the dynamic equation and calculate the acceleration of the center of mass, the formula on the picture seems to be wrong.
