Φdi)=hTh-c2=0 h=ro-r ro=r+A s'o r=r+As. Time derivative of the constraint equation leads to Φai,)=hTh+hh=2hTi=0 h=2-”9=i+RA,0,=月+B,yp, =+RA,s0,=+B,s0 本u》=2h(G+Bsp,--B,s0,) -bha6l-26]-0 D=【2h-2hBsr本，D=2n2hBs9] vd》=-Dyd》=0Time derivative of the constraint equation leads to • 速度约束方程 P i Q j h r r    0 ( , ) 2   c  rd i j Φ h h T 2 0 ( , ) T T T Φ  h h  h h  h h      rd i j P i Q j h  r  r Q j j j Q j r  r  A s P i i i P ir  r  A s j Q j j j j Q j j j Q r j  r  RA s   r  B s  i P i i i i P i i i P r i  r  RA s   r  B s   i P j i i i Q j j j rd i j     Φ  h r  B s  r  B s ( , ) T 2 2 2   2 2  0 T T T T                   i P i i i j Q j j j      r h h B s r h h B s   P i i rd i j i Φ h h B s q     ( , ) T T 2 2   Q j j rd i j j Φ h h B s q   ( , ) T T 2 2 0 ( , ) ( , )    rd i j t rd i j v Φ