For the redundant robot, the joint motion optimization and simulation were discussed.
针对冗余度机器人机构的关节运动优化进行研究。
The motion optimization method is proposed, by which transmission errors anddiscontinuousness of tooth surface meshing is decreased to minimum.
提出了运动优化的方法，通过预设传动误差抛物线函数，使齿面啮合时运动误差和不连续性减至最小。
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.
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。
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