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.

本文在機械手的機械結(jié)構(gòu)分析基礎(chǔ)上日日夜人人操人人干福利，利用ADAMS建立了用于機械手軌線跟蹤控制研究的機械手模型狼友视频在线在线；通過對機器人運動學(xué)和動力學(xué)問題的研究，建立了機械手研究的數(shù)學(xué)模型免费A片免费A片在线观看；分析了機器人系統(tǒng)中模型誤差的主要來源毛片A片全免费观看，根據(jù)加權(quán)函數(shù)法分析，提出了模型集中誤差的概念国产精品厕所；在存有模型誤差的情況下国产理论一区，采用逆動力學(xué)結(jié)構(gòu)并引入輔助控制量最近中文字幕完整视频免费，由機器人誤差模型推導(dǎo)了機器人非確定性模型；提出了采用魯棒指數(shù)收斂法對上述機器人非確定性模型進行魯棒鎮(zhèn)定的控制策略久久网免费看国产黄，并給出了對機器人進行魯棒指數(shù)收斂控制時系統(tǒng)不確定因素應(yīng)滿足的匹配條件欧美纯码黄视频；針對機械手研究模型，深入研究了魯棒指數(shù)收斂控制器對機器人系統(tǒng)中常見的模型參數(shù)誤差日韩中文字幕露脸视频网站免费、關(guān)節(jié)擾動国产三级片在线看污、關(guān)節(jié)摩擦等不確定因素的鎮(zhèn)定控制效果；針對魯棒指數(shù)收斂控制器易產(chǎn)生控制量振蕩的問題以及在小范圍內(nèi)系統(tǒng)軌線跟蹤的穩(wěn)態(tài)誤差過大問題国产精品一级片，本文分別提出了基于控制器結(jié)構(gòu)的控制參數(shù)調(diào)整法和基于軌線跟蹤范圍大小的控制參數(shù)分段切換法好看的av作品。

Deemed to be under attack; and a raft of local grievances, tribal frictions, inter-ethnic conflicts and competition for power and resources.

反對西方入侵；捍衛(wèi)被認為是受到了沖擊的傳統(tǒng)穆斯林價值觀的愿望亚洲综合色色；以及一系列地方冤情狼友视频新网址，部族摩擦，種族間沖突和為權(quán)力和資源的斗爭黄色视频大全一区。

Moreover, for most Taliban fighters, the ideology of global jihad is less important than other things: Pushtun nationalism; opposition to the Western invasion; desire to defend conservative Muslim values deemed to be under attack; and a raft of local grievances, tribal frictions, inter-ethnic conflicts and competition for power and resources.

此外欧美视频一区二区三区，對大部份塔利班武裝分子，全球圣戰(zhàn)的意識形態(tài)沒有其它的事情重要：普什圖民族主義亚洲网站视频；反對西方入侵www.麻豆精品；捍衛(wèi)被認為是受到了沖擊的傳統(tǒng)穆斯林價值觀的愿望；以及一系列地方冤情官方网站夫妻一级黄色录像片子，部族摩擦国产v日产v欧美v韩国视频，種族間沖突和為權(quán)力和資源的斗爭。

Main shaft parts are mainly composed of main shaft upper and lower cone frictions clutch M.N.

主軸部件主要是主軸日本最新黄色視頻夜夜操，上下圓錐摩擦離合器MN組成的大波美女视频一级A片，其操縱裝置主要由杠桿機構(gòu)和拉簧組成。

That may increase trade frictions if China starts exporting the excess at cut-rate prices-what trade experts call dumping.

如果中國開始以極低的價格出口商品色哟哟网址，也就是我們所說的"傾銷"在线一区二区，那么必然會產(chǎn)生貿(mào)易摩擦。

As long as we both embrace an open and inclusive spirit, we will have more consensus than differences and more mutual benefits than frictions, and cooperation will be the defining theme of China-EU relations.

我們并不期待雙方在所有問題上看法一致男女无遮挡猛进猛出动态图，有分歧并不可怕欧美老人精品视频在线观看，只要我們秉持開放包容精神，共識必將大于分歧男人天堂网免费视频在线，共贏必將大于摩擦欧美孕妇在线看，合作必將成為主流。

Disaccord of structure and extent of protection policy changes the international interest distribution, which may cause trade frictions.

貿(mào)易政策實行的保護結(jié)構(gòu)和程度不一致手机在线一区二区，改變了國際間利益分配的格局国产黄精品，可能由此引起貿(mào)易摩擦。

Aiming at the limit towards Chinese drygoods of the U.S., this paper discusses the underlying reasons, and considers how to deal with the trade frictions of drygoods to explore a sound way to develop the exportation of Chinese drygoods.

針對美國對我紡織品設(shè)限97综合干视频，本文在此討論其成因成年人免费看的视频大全，并反思我國如何應(yīng)對紡織品貿(mào)易摩擦在线看日本片专区品尚网，使中國紡織品出口走上健康發(fā)展的道路。

Have frictions in daily life, and those frictions will make us part

在日常生活中国产黄色A片网站，就算最要好的朋友也會有磨擦

Have frictions in daily life, and those frictions will make us part

在日常生活中欧美图片亚州图片性爱图片自拍偷拍，就算最要好的朋友也會有磨擦