文中通过数值仿真讨论了逆动力学问题，轨迹跟踪，载荷分配和与作业环境的最北京工业大学工学博士学位论文大接触力等方面。
The issues, inverse dynamics, trajectory tracking, load distribution and maximum dynamic contact force exerted on the environment, have been discussed through numerical simulations.
小一自行分配学位结果昨日公布，有家长高兴得跳起来，也有家长感到失望。
The results of Primary One discretionary places were released yesterday. Some parents jumped with joy while others felt disappointed.
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