1、A motion constraint equation for moving target is derived by the first order geometric features.
利用一階幾何特征導(dǎo)出了目標(biāo)的運動約束方程。

2、The acceleration constraint equation is obtained based on the six DOF model of secondary joint.
基于次鉸全自由度表達模型，推導(dǎo)閉鏈加速度約束等式；

3、A novel gradient constraint equation was obtained through analyzing the error of temporal gradient.
通過對時間梯度誤差的分析，得到了新的梯度約束方程；

constraint equation翻譯