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针对含闭式运动链的机器人动力学，介绍了一种改进的Ｎｅｗｔｏｎ－Ｅｕｌｅｒ法，经验证这种方法与目前解决该类问题的诸方法相比较，具有计算速度快的特点，尤其适用于自由度高的机器人，有利于实现机器人的实时控制
Aiming at the dynamics of robot with closed kinematic chain, an improved Newton-Euler method is introduced. It has been proved that this method has the characteristics of high computational speed compared with the current methods for solving such problems, and is especially suitable for free High degree of robot, is conducive to real-time control of the robot