Based on the force equilibrium equations, the relationship between the external wrench space and the manipulation force space at any contact is investigated.

从抓取的力平衡方程出发，研究了外力旋量空间与任一接触处操作力空间之间的关系。

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In 1989 Jon launched his first company, Goldmine, with one of the earliest products in the space between collaboration, contact management and sales force automation.

FORBES: The Rise and Fall of CRM 1.0: A Talk With Jon Ferrara of Nimble