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.
2
机器人臂绕枢轴转动并伸直，好像伸出它的机械手。
It pivots around and straightens as it extends its mechanical hand.
3
当双臂机械手搬运物体从一个位置到另一个位置时，机架、两个臂和被夹持物体构成一个封闭系统。
When a dual-arm manipulator carries an object from one position to another, the two arms and the gripped object constitute a closed loop system.
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