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.
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