对于一个机械臂手端与刚性环境发生光滑接触的类型，本文给出了一种约束描述，并进行分析。
A description and analysis of constraints are given for the ideal case where the end-effector of a single robot manipulator is in contact with rigid environments.
一名女侍者走进来，手端放着茶的托盘。
锻炼三头肌的时候将橡皮筋套在后背，一只手抓住橡皮筋的一头，另一只手抓住橡皮筋的另一端拉升橡皮筋至头顶上方。
To work triceps, stand with resistance band along your back, holding the tubing in one hand and stretching the other band with your other hand over your head.
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