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。
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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