Relative angle constraint B B;is constrained to undergo translational motion without rotation relative to b B 01-p,=C3 def ro(i,j) =p,-p,-C3=0 g=ggy4,=(9,4,=69,0 x DOF=n-s=6-1=5 市9u,》=p,-p,=0 D,w=[00刂 Φ，》=[00-1 v'o,》=0 Parameter: i,C3 ro1》=0,-0,=0 ra(=0Relative angle constraint Bi is constrained to undergo translational motion without rotation relative to Bj  j i  c3  0 def ( , )  r i j  3 c  j i  • Velocity constraint equation 0 ( , )     j i r i j     0 ( , )  j  i  r i j        3 Parameter: i, c j r Bj y  x  O j x  i y  Cj  j DOF  n  s  6 1  5   T T i i i q  r 0 0 1 ( , )  r i j j   q 0 a ( )   i  0 ( , )  r i j v    T T j j  j   q  r T T T q  qi qj 0 0 1 ( , )   r i j i   q i r i i x  i y  Bi  c