constraint equations的用法和樣例：
例句
- The Jacobian matrix of the parallel manipulator had been derived by taking the derivative of the constraint equations.
利用對機構約束方程求導數法得到機構的雅可比矩陣。 - Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根據變換方程與約束方程顯含時間的等價性，提出了定常約束與定常系統判據的等同表述。
