驱动冗余可有效消除并联机构在作业空间中的奇异位形，但其导致驱动力分配不唯一。
Redundant actuation can effectively eliminate singularities in the task space of a parallel manipulator, but the drive force distribution is not unique because of the redundant actuation.
针对空间机器人系统，研究了欠驱动冗余度机械臂的“非完整冗余”特征和无碰撞路径最优运动规划方法。
Nonholonomic redundancy and a collision free motion planning method for under-actuated redundant manipulator were studied in this paper aiming at the Space-Robot-Systems.
配置主机适配器驱动程序，通过初始ram磁盘进行加载，初始ram磁盘将在引导过程中加载适配器模块时对冗余磁盘应用配置数据。
Configure the host adapter driver to be loaded through an initial RAM disk, which applies the configuration data for redundant disks when loading the adapter module at boot time.
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