Φai,)=hTh-c2=0 B h=r+A s'o-r-As P Number of constraint equation:s- 4,=9,4,=p, P q=g）=tg9,rp,） O x Degrees of freedom:=5 Parameters of the constraint i,j,s=(,s9=(°y9,c 0 P i i i Q j j j h  r  A s  r  As ( , ) T 2 c rd i j Φ  h h  s  1 Degrees of freedom:   5 Number of constraint equation:   T T i i i q  r Parameters of the constraint   T T j j  j q  r     T T T T T T i j i i j  j q  q q  r r i j x y  x y  c Q j Q j Q j P i P i P i , , , , T T s    s    Bj y  x  O j x  j y  Cj j r  P Q j r Q j s P i s i x  i y  Ci Bi ir Q h  P ir