Abstract：In dynamics analysis of robot by using Kane's method, the advantage of applying the coordinateframe attached to the mass center defined in [1, 2] is of getting the recursive equations for calculation of partial velocity, partial angular velocity and otker parameters and making the calculations in common and simpleas compared with Kane's definition.
[1] 陈乐生.质心坐标系的拉格朗日方程.首届全国多体系统动力学学术会议,上海交通大学,上海交通大学出版社,1992:63-64.
[2] 洪嘉振,多体系统动力学——理论,计算方法和应用.
[3] 陈乐生.质心坐标系的牛顿-欧拉动力学方程.机器人,1993.15(3),33-37.
[4] Thomas R Kane. David A Levison. The use of Kane's dynamical equations in robotics. The International Journal of Robotics Research, 1983.2(3).
[5] Richard P Paul. Robot manipulators, mathematics, programming and control. The MIT Press, 1981, 179-180.
