This paper introduces a method which uses geometry reasoning & degrees of freedom calculating based on constraint driven to solve the problem of checking over constraint & under constraint.
采用基于约束驱动的几何推理和自由度计算方法，设计了约束检查策略与算法，解决了过约束与欠约束检查问题。
This paper attempts to solve the problem of nonlinear systems control using linear systems theory and fuzzy control theory for example of a planar manipulator with two degrees of freedom.
本文以二自由度平面机械手为例，尝试用线性系统理论和模糊控制理论解决非线性系统问题。
After transforming the nonlinear optimal problem of four degrees of freedom with constraints to a nonlinear optimal problem of two degrees of freedom without constraints, the solution is given.
经过推导，把一个四维带约束非线性最优化问题转化为一个二维无约束非线性最优化问题，并给出了求解过程。
After transforming the nonlinear optimal problem of four degrees of freedom with constraints to a nonlinear optimal problem of two degrees of freedom without constraints, the solution is given.
经过推导，把一个四维带约束非线性最优化问题转化为一个二维无约束非线性最优化问题，并给出了求解过程。
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