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利用基于均衡比例因子梯度投影算法对用于某自行火炮炮塔内弹丸装填的155HP－1七自由度机器人进行了装填作业的数值仿真计算、并与采用固定比例因子的梯度投影法得出的结果进行了比较。指出了利用后法的两个弊端：寻求可行的比例因子的计算量大，不易获得满意的结果；当操作机末端速度为零时，不能保证关节速度为零。而前法则克服了这些缺陷，并验证了该法是有效可行的，避免了寻求可行比例因子的繁杂计算。
The numerical simulation of loading operation for a 155HP-1 seven-DOF robot used in a self-propelled artillery turret projectile loading was carried out by using a gradient projection algorithm based on proportional scale factor and was compared with the results obtained by a gradient projection method with a fixed scale factor A Two drawbacks of using the post-process method are pointed out: the calculation of the feasible scale factor is large and it is not easy to obtain the satisfactory result; when the terminal speed of the manipulator is zero, the joint speed can not be guaranteed to be zero. The former law overcomes these shortcomings and verifies that this method is effective and feasible, avoiding the complicated calculation of seeking feasible scale factor.