Constraint equations were constructed by using distance error model, and the actual geometric parameters of the robot were solved, and then these parameters were used in the modified kinematics model.
利用距离误差模型构造出机器人本体的约束方程，并求解出机器人的实际几何参数，进而将该参数应用于修正系统的运动学模型。
The geometric and static constraint conditions on contact surfaces are treated as additional conditions and are included in stiffness equations.
在这种模型中，接触单元的几何和静力约束条件是作为补充方程包含在刚度方程中。
The iteration of geometric programming with constraint positive negative term equations is applied to the optimal design for bolted tight connections used in pressure vessels.
对压力容器的螺柱组紧联接的优化设计，采用了约束正负定式几何规划迭代法。
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