然后，基于消除冗余并联机构固有内力的原则，由冗余并联机构的末端力得到机构各个主动关节的驱动力。

Then, based on eliminating the internal force inherent in redundant mechanism, torque of each driving joint are calculated from the force acting on the terminal of the parallel-mechanism.

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在自由度冗余的机器人末端连杆上安装激光位移传感器可实现灵活的非接触测量。

A robot can be used for noncontact measurements when a laser displacement sensor is fixed to its end-link.

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