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。

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.

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研究了其中两个自由度的运动轨迹跟踪控制策略，并将其应用于电机样机的控制。

Control strategies for the two DOF trajectory following are studied and applied to the prototype USM.

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机械系统动力学模型是研究液压六自由度运动平台控制策略的重要组成部分。

The mechanical dynamics model is an important research area of the control strategy for the six-dof hydraulic motion platform.

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