对应用CNC技术精确设定开环控制系统的机械原点，提高传动精度及专用机床加工柔性化的方法进行了研究。
The method for precise location of original point of machinery in open control, enhancement of transmission accuracy and flexibility of special machine are researched.
用这种驱动无论是在停电后还是作现场应急调试和维修都不影响机床进给位置的确定，而且与机床机械原点的变动无关。
No matter what power cut or scene emergency debug and maintain will not affect the position of machine, which is independent of the alteration of machine origin.
采用文中给出的鲁棒控制器，能保证机械臂的实际跟踪误差在有限时间内减少到预先给定的包含原点为内点的区域。
Results shows the following fact: it can be guaranteed that the practical tracking error in operating process of rigid robot manipulator attenuates to the given region around the origin.
采用文中给出的鲁棒控制器，能保证机械臂的实际跟踪误差在有限时间内减少到预先给定的包含原点为内点的区域。
Results shows the following fact: it can be guaranteed that the practical tracking error in operating process of rigid robot manipulator attenuates to the given region around the origin.
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