On the basis of above, a method for both suppressing vibration and optimizing joint-torques is proposed by using Lagrangian multiplier method.
在此基础上利用拉格朗日乘子法，提出了一种在满足抑振的同时进行机器人关节力矩优化的方法。
On the basis of above, a method for both suppressing vibration and optimizing joint-torques is proposed by using Lagrangian multiplier method.
在此基础上利用拉格朗日乘子法，提出了一种在满足抑振的同时进行机器人关节力矩优化的方法。
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