Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

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The dissertation gives a brief description about the developing situation and control theory of robot firstly, and then the underlying idea and characteristic of CTC are introduced in detail. Subsequently three classes of control strategies with compensation control structure which are based on CTC are proposed. The overall idea is that the system of robotic manipulators is decomposed as two parts: one is nominal system with perfect knowledge of dynamic model and the other is system with uncertainties. CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers. The outputs of the two parts control the robotic

本論文首先介紹機(jī)器人的發(fā)展概論概況，然后對(duì)計(jì)算力矩控制算法的基本思想和主要特點(diǎn)作詳細(xì)的闡述美国男女操逼，緊接著探討基于計(jì)算力矩結(jié)構(gòu)不確定性機(jī)器人的補(bǔ)償控制方案AAAα黄色视频，其中的基本思想都是將不確定性機(jī)器人系統(tǒng)分解成標(biāo)稱系統(tǒng)和不確定系統(tǒng)：對(duì)于標(biāo)稱系統(tǒng)，采用計(jì)算力矩控制秋霞理论久久理论电影；對(duì)于不確定系統(tǒng)自拍高潮日韩在线观看，利用機(jī)器人系統(tǒng)的回歸矩陣或集中不確定性上界的包絡(luò)函數(shù)，設(shè)計(jì)不同的補(bǔ)償控制器国产丰满成熟女性性高潮视频。

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robotic blacksmith：鍛造機(jī)撲

robotic assembly 由機(jī)撲裝配 | robotic blacksmith 鍛造機(jī)撲 | robotic cell 機(jī)撲加工單元

robotic blacksmith：鍛造機(jī)器人

robotic assembly 由機(jī)器人裝配 | robotic blacksmith 鍛造機(jī)器人 | robotic cell 機(jī)器人加工單元

robotic technology：機(jī)器人學(xué)

robotic cell 機(jī)器人加工單元 | robotic technology 機(jī)器人學(xué) | robotic transfer system 機(jī)器人傳送系統(tǒng)