为了满足机器人在线实时控制的要求及进一步提高运算精度，提出用迭代计算进行误差补偿的方法。
In order to meet the request of on-line and real-time control of robot and enhance the precision it puts forth way of error-compensation using repetitious calculation.
取补偿项序列的有限次迭代值，获得次优控制律。
By taking a finite - time iteration of the compensation sequence, a suboptimal control law is obtained.
取补偿项序列的有限次迭代值，获得次优控制律。
By taking a finite - time iteration of the compensation sequence, a suboptimal control law is obtained.
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