If，(,)≠0， Equations M+Φ，九=04 may be solved Φ，i=Y i=Φ，y=西，'№4-M λ= Lagrange multiplier associated with the driving constraints,which is used for determining the forces and torques that would be required to impose the driving constraints       q Mq Q q q   T A   1  q q   Q Mq q     T A 1   (q,t)  0,  q If Equations may be solved        D K    : D  Lagrange multiplier associated with the driving constraints, which is used for determining the forces and torques that would be required to impose the driving constraints