The correctness of this method is verified by experiment. A valid scheme for robotic hand joint position control is provided.

通过实验验证了控制方案的正确性，为机器人手指关节的位置控制提供了一种有效方法。

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Meanwhile, the speed regulation, position detection and feedback, movement coordination of each joint in the servo control system of this manipulator are described in the article.

并就机械手伺服控制系统的速度调节、位置检测与反馈、各关节动作的协调等方面的设计作了说明。

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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。

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