对于给定的一组轨迹点，用优化方法实现铰链四杆机构轨迹复演。优化方法为共轭梯度法。-For a set of track points,we use a optimization method to optimize the track of Hinge four-bar mechanism. The optimization method is conjugate gradient.

02-2 铰链四杆机构实现连杆轨迹的优化设计(Trajectory optimization of a hinged four bar mechanism)