In the presence of unknown required wrenches the required wrench set was taken to be the unit ball centered at the origin of the wrench space .

在外力旋量未知的情况下，所需力 旋 量 集常选以力旋量空间原点为中心的单位球。

It elaborately selects the spanning set for the external wrench and computes a corresponding spanning set for the optimal contact forces in the offline phase .

它在离线阶段精心选择外力 旋 量的生成集和计算相应最优接触力的生成 集。

Use lug wrench set to do this .

请使用凸耳 扳手 套件执行此操作。

Use the lug wrench set together with a commercially available torque wrench to do this .

在执行此 操作时， 请使用凸耳 扳手 套件以及商用扭矩扳手。

The grasp wrench set may adopt the convex hull or Minkowski sum of the primitive contact wrenches for minimizing the sum or maximum of normal force components .

为使法向力之和或最大法向力最小化，抓取力 旋 量 集可采用原始力旋量的凸包或它们Minkowski和。

Its objective function is the inner product of the external wrench and a vector and the constraints on the vector given by a set of linear inequalities define a polytope .

它的目标函数是外力 旋 量和一个向量的内积，而对于该向量的约束由一 组线性不等式给定且形成一个凸多面体。

Here 's the jack the wrench and the spare tire . I 'm all set .

千斤顶、 板 手、备胎都在这里。一切 就绪。