摘要
通过对系统约束矩阵进行奇异值分解（ＳＶＤ）构造约束子空间的零子空间的一组基，将系统的广义加速度沿约束子空间及其零子空间进行分解，得到了封闭形式的系统运动微分方程，给出了求约束反力的公式和避免违约的一种简易方法。
A basis of null subspace of constraint subspace is constructed adopting the singular value decomposition(SVD) of the constraint matrix of the system.The decomposition of generalized accelerations of the system along the constraint subspace and its null subspace,the closed form of motion differential equations of the system are thus obtained.Formula to solve the constraint reaction forces and a simple method to avoid the violation of the constraints are also given.
