A system of nonlinear constraint equations relating the position of hand having extreme distance to the positions of joints for robot are derived in rectangular co-ordinate system.
文中建立了在直角坐标系中表示的，联系机器人极限距离位置与关节位置的约束方程组。
2
The frame USES steels of rectangular structure and is strong yet light in weight. It is suitable for long-distance safe transport of asphalt by road in cold areas.
框架采用矩形结构钢材，质量轻强度大，适合长距离、寒冷地区公路安全运输沥青工作。
3
Based on the C-W equation, equations with both rectangular coordinates and orbital elements for the impulse maneuvers in long-distance guidance are derived.