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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In aim at the complicity and high-dimensional state-space for the controlled system, it simplifies the calculation of geometric polytope by optimize with ellipsoidal approximate techniques, and the robust control effectiveness near to the optimal.

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The deeper meaning of Chinese Reportage reflected both in the narrating object and the appearance of style indicates the high-level conformity and interaction of spirit of age whose core is exactly modernity. It also shows the advancement of the style. All the implications are embodied in the pursuit of modernity between the themes—the enlightenment of image and the establishment of meaning, the independence of people and the development of nation—and also embodied in the reflection and criticism of social problems such as the pursuit of"savage" which is contrary to the modernity, the"gray"social fashion, and the unbalance of two-element structure, etc.

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