During the alternate iteration, an acceleration method called as vector extrapolation was applied to the alternate iteration steps owing to slow convergence of the algorithm.
在交替迭代过程中，考虑到算法收敛较慢，一种称为向量外推的加速方法被采用。
Compared with the computed torque method, the algorithm can give error convergence bound clearly without acceleration measurement and inverse inertia matrix.
与传统计算力矩法相比，在不要求加速度测量和惯性矩阵求逆的情况下，算法给出清晰的跟踪误差收敛域。
Second, the rate of error convergence may be guaranteed rapidly by setting appropriate angular position, velocity and acceleration feedback gain Matrices;
二是可以适当的选择位置、速度和加速度反馈增益矩阵，从而加快误差收敛速度；
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