The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.
广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。
The generalized constraint forces are then expressed as an explicit function of the state variables and generalized input forces, from which force information is therefore obtained.
广义约束力被表达为机器人系统状态变量和广义输入力的显函数，力信息由此获得，因此无须使用力传感器即可同时控制机器人的力和位置。
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