The paper proposed a Predicted-Error-Based Model Algorithm Control (PEBMAC) method.
提出了一种基于预测偏差的模型算法控制方法。
Robot dynamics is a complex dynamic system, on the dynamic response of the processing object depending on the robot dynamics model and control algorithm.
机器人动力学是复杂的动力学系统，对处理物体的动态响应取决于机器人动力学模型和控制算法。
Finally, an example is given to show the availability of the model and control algorithm.
最后的示例表明了层次模型与控制算法的有效性。
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