Constraint equations X1 y Φ ] 2 =0,q= x-x2 +cos +lsin y-y2+sing -lcos 4,-ot Velocity constraint equations 1 0 0 1 0 0 0 0 0 0 0 0 0 1 0 二 =-①,=y 1 0 -sin o -1 lcosφ2 0 0 coS中, 0 -1 Isin2 0 0 0 0Constraint equations 2 2 2 1 1 1 1 1 2 1 2 1 2 1 2 2 1 1 sin cos cos sin y x y x , t y y l x x l y y x D k 0 q Velocity constraint equations q v q t y x y x l l 0 0 0 0 0 0 0 1 0 0 0 0 1 cos 0 1 sin 1 0 sin 1 0 cos 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 0 2 2 2 1 1 1 1 2 1 2