No. Kind B R 0, R, C 10 rt 3 2 T151 0 Lo] 11 3 T0] 4 7.5 0 0 0 Number of constraint equations:2 =s9-s 「17 Dm6)=g7[B,'6,-5)-Bs”-R's]C=0 B:(r2-r)-Bas2-R'ss cos(2-) → Φm6,2)=-sin,(x2-x3)+cos,by2-y3)+15sin(p2-4)=0 Φn6)=1g7[B,6-5)-B4s-R']0 B3 (ra-r)-Baasi -RTss -[m cos(04-4) → Dm6,4)=-sin(x4-x3)+cos0y4-y3)-7.5sin(p4-)=0 Driving Constraints No. Kind B R B R 8, C) 12 aod 1 40πt Φ0=4,-40π1No. Kind Bi P i s Q i s Ri i B j P j s Q j s R j j C 10 rt 3 0 0 0 1 2 0 15 0 11 rt 3 0 0 0 1 4 0 7.5 0 Number of constraint equations:2 0 1 3 3 3 Q P v s s 0 1 3 3 2 3 32 2 3 3 (3,2 ) C v rt T T P T P v B r r B s R s 0 15 cos sin sin cos cos sin sin cos 2 3 2 3 2 3 2 3 2 3 2 3 3 3 3 3 3 2 3 32 2 3 y y x x T P T P B r r B s R s sin cos 15 sin 0 3 2 3 3 2 3 2 3 (3,2 ) x x y y rt 0 1 3 3 4 3 34 4 3 3 (3,4 ) rt T T P T P v v B r r B s R s 0 7.5 cos sin sin cos cos sin sin cos 4 3 4 3 4 3 4 3 4 3 4 3 3 3 3 3 3 4 3 34 4 3 y y x x T P T P B r r B s R s sin cos 7.5 sin 0 3 4 3 3 4 3 4 3 (3,4 ) x x y y rt Driving Constraints No. Kind Bi P i s Q i s Ri i Bj P j s Q j s Rj j C(t) 12 ad 1 40t t a d 40 1 (1)