When the mechanical system is coupled with the constraints, it is very convenient for the transition from the rectangular coordinates to the generalized coordinates, and it is also very necessary. The introduction of generalized coordinates is one of the major features of analytical mechanics, and the Lagrange equation is based on the generalized coordinates. In this paper, some relevant history data of the formation of generalized coordinates are provided, and some propositions are given.
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梅凤翔,李彦敏,吴惠彬.广义坐标的形成史[J].动力学与控制学报,2017,15(5):406~409; Mei Fengxiang, Li Yanmin, Wu Huibin. On the history of generalized coordinates[J]. Journal of Dynamics and Control,2017,15(5):406-409.