During the alternate iteration, an accelerationmethod called as vector extrapolation was applied to the alternate iteration steps owing to slow convergence of the algorithm.
在交替迭代过程中,考虑到算法收敛较慢,一种称为向量外推的加速方法被采用。
2
Compared with the computed torque method, the algorithm can give error convergence bound clearly without acceleration measurement and inverse inertia matrix.