机器人完整约束和非完整约束

以下是摘自Modern Robotics Mechanics, Planning and Control书籍中的介绍
Many mobile bases, however, such as cars and differentialdrive robots, use more typical wheels, which do not slip sideways. These no-slip constraints are fundamentally different from the loop-closure constraints found in closed chains; the latter are holonomic, meaning that they are configuration constraints, while the former are nonholonomic, meaning that the velocity constraints cannot be integrated to become equivalent configuration constraints
翻译为：
然而，许多移动基座，例如汽车和差速驱动机器人，使用更典型的轮子，这些轮子不会侧向滑动。 这些无滑动约束与闭环链中的闭环约束有根本的不同。 后者是完整的，意味着它们是配置约束，而前者是非完整的，意味着速度约束不能积分成为等效的配置约束