This paper introduces a method which uses geometry reasoning & degrees of freedom calculating based on constraint driven to solve the problem of checking over constraint & under constraint.

采用基于约束驱动的几何推理和自由度计算方法，设计了约束检查策略与算法，解决了过约束与欠约束检查问题。

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Based upon screw theory and set theory, the structural characteristics of lower-mobility parallel robots was studied via the union of limb constraints and the coupling of loop over-constraint.

应用螺旋理论与集合论原理，按照支链并联、回路耦合的观点，进行少自由度并联机器人构型特征的研究。

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The budget constraint is going to have a different slope to it and preferences will be different over this horizon between consumption then and consumption now.

预算约束线的斜率会有所不同,人们对即时消费和延期消费的偏好,也会有所不同

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The real constraint will come over the next decade when the potential labour force starts to decline quite rapidly.

BBC: NEWS | UK | Scotland | McConnell: 'Come to Scotland'

Under this hard budget constraint, the rest of the government would have to live on whatever revenues are left over after debt service and Social Security benefits are paid unless Congress is willing to vote for more new borrowing, by super-majority vote if it wants to increase the debt more than the economy is growing.

FORBES: In Passing The Most Recent Budget, Congress And The President Lied