Based on analysis positive and reversal motion of KLD-600 robot, planning of trajectory is analyzed in detail by the method of joint space and the basic model of the control program is created.
在对KLD - 600机器人的正逆运动学分析的基础上，采用关节空间法分析了轨迹规划，建立了控制程序基础模型。
First, the mathematic model of joint position servo control system is deduced, then, the sliding mode variable structure control rule is obtained, finally experiment study is carried through.
首先推导了下位机关节位置伺服控制系统的数学模型，然后推导了在上位机上实现的滑模变结构控制率，并进行了实验研究。
This paper presents a joint optimization model of time varying road tolls and capacities using the optimal control theory in disequilibrium traffic networks with elastic demand.
在可变需求网络中考虑交通流分配的非均衡演化过程，建立一个时变拥挤收费和道路通行能力的联合最优控制理论模型，旨在使系统的全期总收益最大。
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