提出了一种用于双框架控制力矩陀螺的梯度型伪逆控制律，介绍了控制律的原理与计算方法。

The design of a gradient singularity avoidance pseudo-inverse control law used for double gimbal control moment gyro (DGCMG), its principle and calculation were introduced.

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并对四重四面体的变几何桁架机器人进行仿真计算，与伪逆法求解进行了比较，证明了方法的优越性。

Kinematic simulation of a four celled tetrahedron tetrahedron variable geometry truss manipulator is carried out. Results show that our method is better than the pseudo inverse method.

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最后提出一种新的伪逆法——频域伪逆法，这种方法与人们通常使用的时域伪逆法相比有一些优越性。

At last a new (frequency-domain) pseudo-inverse method is given, which has some superiority over classical time-domain one.

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