eRob系列机器人关节（图源/企业）
For a chosen denominator b, it’s pretty easy to find the value of a that gets us the closest to the target r. We must consider two cases: the largest “low-side” fraction that’s still less than r; and the smallest “high-side” fraction greater than r. If there’s a rational fraction that matches r exactly, that solution is prohibited by the rules of the game; we need to pick one of the nearby values instead.
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The Isle of the Dragon
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