The acceleration constraint equation is obtained based on the six DOF model of secondary joint.
基于次铰全自由度表达模型，推导闭链加速度约束等式；
A motion constraint equation for moving target is derived by the first order geometric features.
利用一阶几何特征导出了目标的运动约束方程。
A novel gradient constraint equation was obtained through analyzing the error of temporal gradient.
通过对时间梯度误差的分析，得到了新的梯度约束方程；
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