constraint equations的用法和样例：
例句
- The Jacobian matrix of the parallel manipulator had been derived by taking the derivative of the constraint equations.
利用对机构约束方程求导数法得到机构的雅可比矩阵。 - Starting with Lagrange equations of the first kind, pure differential equations of multibody systems with rheonomic constraints are established.
根据变换方程与约束方程显含时间的等价性，提出了定常约束与定常系统判据的等同表述。
