【摘要】 应用约束对力学系统的作用必须包括约束的数学方程和约束的力学性质两个方面的观点［１］，研究了实现规划运动的控制系统方案。更多还原

【Abstract】 The influences of constraint on mechanical system must include mathematical equations and mechanical features of the constraints. Therefore the problem of control system on realization of program motion is considered using this point of view.更多还原