On the basis of above, a method for both suppressing vibration and optimizing joint-torques is proposed by using Lagrangianmultipliermethod.
在此基础上利用拉格朗日乘子法,提出了一种在满足抑振的同时进行机器人关节力矩优化的方法。
2
To calculate the weight coefficients of the combination model firstly the Lagrangianmultipliermethod is applied to object function and equality constrains.