Redundant actuation can effectively eliminate singularities in the task space of a parallel manipulator, but the drive force distribution is not unique because of the redundant actuation.
驱动冗余可有效消除并联机构在作业空间中的奇异位形，但其导致驱动力分配不唯一。
If you don't segregate configuration and actuation, users can be forced to confront considerable complexity, even if they want to perform a routine task in a simple manner.
如果你不把配置和实际的功能隔离开，即使用户只是想执行一项简单的例行任务，也必须被迫面对相当复杂的情况。
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