restricted pseudoinverses受限伪逆元素 restricted master programmingn.约束主规划 Not limited or restricted; absolute无限制的;无束缚的;绝对的 ..
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主起重机的期望轨迹在一定启发式信息的引导下预先规划，从起重机轨迹则根据运动约束关系计算出来，它只能跟随主起重机运动。
The path of main crane is planned according the heuristic information beforehand, the movement of following crane is planned according the movement of the main crane and the load.
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