The adjustment of position is classified, and the corresponding constraint equations are presented.
对位置调节进行分类，并给出每一类的约束方程。
It gives the algorithm to decompose the constraint equations and the way to solve the equations in two levels based on the rules solving.
提出了对约束方程组进行分解的算法和在规则求解的基础上分两层求解方程组的方法。
A mathematical model to describe the traveling-capability of pipeline robot in T-joint is presented, which is composed of a set of constraint equations.
通过对约束方程的分析讨论、与管道机器人弯道通过性的对比分析，得出了规律性的结论。
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