提出的动力学补偿方法结合了闭环位置控制和计算力矩控制两者的优点。
The proposed dynamic compensation method combines the advantages of closed-loop position control and computed torque control.
基于模型的计算力矩控制由于考虑了非线性补偿而极大地提高了其控制品质。
Owing to the non-linear compensation has been taken into consideration, the computed-moment control based on model greatly enhanced its quality of control.
设计了一基于模型的计算力矩控制算法，并深入探讨了其应用于三种不同轨迹规划方法下的控制性能。
A model based control scheme employing computed-torque control has been presented, and its applications in three different path planning methods have also been discussed.
借助机械系统动力学仿真分析软件ADAMS，探讨了在计算力矩、模糊变结构控制策略和所遴选的轨迹规划方法下，机械手的控制效果。
By using the simulation software ADAMS, the performance of manipulator which employing the designed control algorithms and the selected path planning method has been discussed.
本文采用了三种方法：计算力矩法、鲁棒控制及变结构滑模控制，对6- DOF串并联机器人进行了精确控制。
Three methods that are computed torque method, robust control and variable structure sliding mode control were used in the precise control of the series-parallel 6-dof robot.
本文采用了三种方法：计算力矩法、鲁棒控制及变结构滑模控制，对6- DOF串并联机器人进行了精确控制。
Three methods that are computed torque method, robust control and variable structure sliding mode control were used in the precise control of the series-parallel 6-dof robot.
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