But the direct broadcast satellite terminal in the production process will inevitably have redundant products on the market, and its technical parameters also appeared.

但直播卫星终端在生产过程中难免会有多余的产品流落到市场，甚至其技术参数也出现泄密。

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Then, based on eliminating the internal force inherent in redundant mechanism, torque of each driving joint are calculated from the force acting on the terminal of the parallel-mechanism.

然后，基于消除冗余并联机构固有内力的原则，由冗余并联机构的末端力得到机构各个主动关节的驱动力。

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