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建立机器人系统（非完整系统）动力学的正则方程。分析机器人动力学数值计算中的积分误差与误差累积的原因，将正则方程与辛格式积分密切结合，消除动力学计算的误差累积，保证计算精度。
Establish a Canonical Equation of Dynamics of a Robotic System (Nonholonomic System). The integral error and the reason of error accumulation in the numerical calculation of robot dynamics are analyzed. The regular equations are closely combined with the symplectic integrals to eliminate the error accumulation in the dynamic calculation and ensure the accuracy of calculation.