欠驱动机械臂系统是一种典型的二阶非完整约束动力学系统，属于非完全可控系统。

Underactuated manipulator system is a typical second-order nonholonomic dynamic systems and isn tan entirely controllable system.

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实验结果及分析表明：算法在非完全组播网络上实现了较优的多约束多点对多点组播路由；

Experimental results and analyses indicated that: this algorithm carry out better multi-constraint Many-to-many multicast routing on Partial-multicast Network;

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