In various fields, planar 2R underactuated robot have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the controller parameters. Initially, a comprehensive dynamic model is developed for the robot with its control properties described. Subsequently, we design a PD controller to control the movement of the planar 2R underactuated robot. Utilizing the differential evolution algorithm (DEA) with the considering the underactuated constraint to enhance the PD controller parameters to get the best control effect, which make all links reach the goal state. The findings from the simulation demonstrate the efficacy of the approach, and the designed strategy shows higher stability and convergence rate, highlighting its important contribution in the field of underactuated robots.

In recent years, there have been numerous financial frauds worldwide, and people are deeply aware of the importance of accounting information quality to a company. As a financial manager, CFO also affects accounting information quality to a large extent. The paper takes a sample that includes data from 2015 to 2017 of A-share listed companies. It studies the relationship among CFO directors, CFO independence, CFO age, CFO education and accounting information quality from the perspective of CFO serving as a director. The study shows that CFO internal director can significantly improve the quality of accounting information. CFO independence will have a moderating effect on the relationship between CFO internal director and accounting information quality. The more independent CFO is, the more obvious the role of CFO internal director in promoting accounting information quality plays. However, the age and education of CFO have no significant effects on the relationship between CFO directors and accounting information quality.

In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the controller parameters. Initially, a comprehensive dynamic model is developed for the robot with its control properties described. Subsequently, we design a PD controller to control the movement of the planar 2R underactuated robot. The differential evolution algorithm (DEA) is used to optimize the parameters of the PD controller to obtain the best control effect and make each link reach the target state. The findings from the simulation demonstrate the efficacy of the approach, and the designed strategy shows a higher stability and convergence rate, highlighting its important contribution to the field of underactuated robots.