| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method addressing a problem of optimizing a sequence of control points and fulfilling global optimality criteria. SOLUTION: According to the invention, the control method for a system or robot having at least one effector comprises the steps of computing an initial sequence of control points, evaluating the system with respect to a global cost function using internal simulation based on the control points and updating the set of control points based on the evaluation, wherein the last two steps are repeated until a given termination criterion is met. COPYRIGHT: (C)2009,JPO&INPIT
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