X 0.5 为 -0.8660 4 5π/3 9= X2 1.4910 -1.0 4, 6.1488 Solve velocity constraint equation 1 0 sin 0 0 0 0 0.4534 0 1 -cos 0 0 0 0 0.2618 0 0 sin 1 0 sin 西 0 0.5236 9= 0 0 -cos 01 -cos 2 0 元2 0.4180 0 0 0 01 0 0 2 0 0 0 1 00 0 π/6 -0.2642Solve velocity constraint equation 1 1 1 1 1 2 1 1 2 222 1 0 sin 0 0 0 0 0 1 cos 0 0 0 0 0 0 sin 1 0 sin 0 0 0 cos 0 1 cos 0 0 0 0 0 1 0 0 0 0 1 0 0 0 / 6 xyxy                                                                    111222 0.5 0.8660 5 / 3 1.4910 1.0 6.1488 xyxy                       q 111222 0.4534 0.2618 0.5236 0.4180 0 0.2642 xyxy                    q   