An axis-invariant-based dynamics modeling and solving method for a tree-chain robot. A Ju-Kane dynamics model is provided and proved, is suitable for dynamics numerical computation of a tree-chain multi-axis system and is also suitable for dynamics control of the multi-axis system. The characteristics of a generalized inertia matrix of an axis-chain rigid body and a generalized inertia matrix of an axis-chain rigid body system are systematically analyzed. The principle and process of a dynamics positive solution of a multi-axis system are provided. When a GPU is used for computation, the computation has linear complexity, and when a single CPU is used for computation, the computation has quadratic complexity. The principle and process of a dynamics inverse solution of the multi-axis system are provided, and there is linear complexity. Since the inertia matrix of a system is small, the dynamics computation complexity of the multi-axis system is far lower than that of existing known dynamics systems.
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