The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.

广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。

youdao

Based on the concept of basic internal force and generalized constraint matrix, a new method was proposed for calculation of the internal force of truss structures.

在中等变形梁的基础上引入增广转换矩阵，为解决桨叶动能项推导编程计算较为复杂的问题，建立了一种新的递推计算方法。

youdao