differential constraint meaning in Chinese

微分约束

Thirdly , based on the geometrical differential constraints and force balancing constraints of the coordinated flexible manipulators , the mutual relationships between the kinematic and dynamic parameters in static configuration have been presented . the manipulation stiffness of the coordinated system has also been proposed . the manipulability of the flexible robot system has been then analyzed in two aspects : i ) the global characteristics in the manipulation workspace based on the manipulation stiffness ; ii ) the local property of the reachable boundary of generalized forces
然后，利用柔性机器人协调抓取的几何微分约束和力平衡约束，通过深入分析系统在静态位形时其内部各运动参量和力参量之间的关系，定义了系统的操作刚度，从两个方面对系统的操作性能进行了分析： 1 ）操作空间中，基os于系统操作刚度的全局特性； 2 ）在一定约束的条件下，系统操作力矢端可达二边界的局部特性。