The kinematic model for the spherical robot was established according to the nonholonomic constraint acting on it.
根据机器人所受的非完整约束，建立了其运动学模型。
The symmetries and conserved quantities for the systems with unilateral holonomic constraints were studied.
研究了单面完整约束系统的对称性与守恒量。
Nonholonomic constraint is the constraint that contains time derivatives of the generalized coordinates of the system and is not integrable.
非完整约束是指含有系统广义坐标导数且不可积的约束。
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