It USES the control strategy in which the distance between the manipulator end and the target could be decreased monotonously, and the corresponding non iterative formula is deducted.
算法采用使操作臂末端点与目标点间距离单调减小的控制策略，并推导出了相应的非迭代公式。
In addition, it also carries out the corresponding studies about the incremental risk control of non-performing loans.
另外，对不良贷款增量风险控制也进行相应的研究。
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