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)上免费看成年人网站，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；通過對機器人運動學(xué)和動力學(xué)問題的研究干在线永久免费视频，建立了機械手研究的數(shù)學(xué)模型美女被操逼；分析了機器人系統(tǒng)中模型誤差的主要來源，根據(jù)加權(quán)函數(shù)法分析亚洲国产青春福利，提出了模型集中誤差的概念性爱在线视频不卡酷酷网；在存有模型誤差的情況下，采用逆動力學(xué)結(jié)構(gòu)并引入輔助控制量欧洲欧美精品黄片，由機器人誤差模型推導(dǎo)了機器人非確定性模型曰本a三级三级三级；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，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91露脸经典对白；針對機械手研究模型国产精品日韩欧美在线第3页天美，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、關(guān)節(jié)擾動A片国产又色在线观看、關(guān)節(jié)摩擦等不確定因素的鎮(zhèn)定控制效果日本人妻久久二区视频观看；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，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)分段切換法日韩精品欧美视频一区。

Sensors and transmitters perform the measurements operation of control system.

傳感器和變送器在控制系統(tǒng)中起著測量的作用中文字幕在线观看2022。

So a tempo run of 20 minutes, for example, would be 5-10 minutes warmup, 20 minutes of steady, hard and controlled running, and another 5-10 minutes to cool down, for 30-40 minutes total.

因此一次20分鐘的門檻跑中有5-10分鐘的熱身，20分鐘穩(wěn)定国内体内she精视频乱码、艱苦而在控制范圍內(nèi)的跑步wwwxxxx69日本，以及另外5-10分鐘的放松，總共需要30-40分鐘亚洲Aⅴ永久无码天堂。

The men in the control room were dead.

男人在控制房間中死欧美-黄色工厂。

Different with the previous one is that this is the image many qq random movement of the screen, but can they stop buttons contr...

與上一個不同的是，這次是很多個qq圖像隨機的在屏幕中運動亚洲精品色婷婷在线影院，而且可以按鍵控制它們停止運動久久久久久亚洲日韩精品一区区三区。

In process control,good adjusting qualities can be obtained by use of GA optimization.

在過程控制中，可采用遺傳算法優(yōu)化調(diào)節(jié)器參數(shù)无遮拦av。

Obert: If Panay took a 70% position in the venture we'd be taking a back seat to you.

： 若Panay在合資中占七成的股份又黄又湿的视频，那我們只有讓貴公司控制全局了。

Obert: If Panay happily a 70% position in trap venture we'd be taking a gravity definitiont to eager.

： 若Panay在合資中占七成的股份，那咱們只有讓貴自己控制全局了日本香港三级三级久久妇。

Aisimali Mashhad airport manager, said the airport control tower warned on several occasions, but aircraft pilots of aircraft on the ground that a patient adhere to landing in the fog.

馬什哈德機場經(jīng)理埃斯馬利表示国产黄色导航，機場控制塔曾多次發(fā)出警告，但機上飛行員以飛機上有病人為由亚洲一区日本，堅持在霧中降落女同免费一区二区。

in the quality control oflcd/lcm, the measure to micro-current is the important factors to the result of detection.

在lcd/lcm的質(zhì)量控制中，對微電流的測量是影響器件質(zhì)量的重要因素自拍黄网。