本文以四元数、递归动力学和优化控制为基础，提出了一种基于力矩优化的虚拟人运动控制算法。

This paper presents a motion control algorithm for virtual human based on torque optimization. The algorithm is founded on the use of quaternion, recursive dynamics and optimal control.

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作用在任意运动物体（系）上的力和力矩可以分别表示成流场中动力学涡量的一阶矩和二阶矩随时间的变化率。

The force and moment exerted on the solid body are expressed as the rate of change of the first-and second-order kinetic vorticity moments, respectively.

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滚珠丝杠利用的是滚珠运动，因此启动力矩极小，不会出现滑动运动那样的爬行现象，故而能保证实现精确的微进给。

Ball screw using ball movement, so the starting torque is very small, does not appear sliding movement crawling phenomenon, so can ensure accurate micro feed.

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