It USES the control strategy in which the distance between the manipulator end and the target could be decreased monotonously, and the correspondingnon 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。
2
In addition, it also carries out the corresponding studies about the incremental risk control of non-performing loans.