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分析了机器人动力学数值计算中“能量耗散”的原因，论证了机器人系统动力学系数之间的恒等关系，建立了机器人系统（非完整系统）动力学的正则方程。正则方程与辛算法密切结合，消除了动力学计算的误差累积，保证了计算精度。
The reason of “energy dissipation” in the numerical calculation of robot dynamics is analyzed. The equal relation between the kinetic coefficients of the robot system is demonstrated, and the regular equation of the dynamics of the robot system (nonholonomic system) is established. The regular equations are closely integrated with the symplectic algorithm, eliminating the accumulation of errors in the kinetic calculations and ensuring the accuracy of the calculations.