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。
Based upon screw theory and set theory, the structural characteristics of lower-mobility parallel robots was studied via the union of limb constraints and the coupling of loop over-constraint.
应用螺旋理论与集合论原理，按照支链并联、回路耦合的观点，进行少自由度并联机器人构型特征的研究。
Based upon screw theory and set theory, the structural characteristics of lower-mobility parallel robots was studied via the union of limb constraints and the coupling of loop over-constraint.
应用螺旋理论与集合论原理，按照支链并联、回路耦合的观点，进行少自由度并联机器人构型特征的研究。
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