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。

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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。

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