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用矩阵变换来实现从世界坐标系的运动到机器人关节坐标系运动的映照。
A transformation was used to map the motion in world frame to robot joint frame.
本文提出了机械手在关节坐标系中的引入积分作用的线性扰动自适应控制和引入重力补偿的模型跟随自适应控制方案。
This paper proposes a linear perturbation adaptive control scheme with integrators and a model following control scheme with gravity compensation for robot manipulators.
在建立运动学数学模型时，运动学逆问题是给出操作器相对于基坐标系的位置和姿态，求解其关节变量。
While setting up mathematics model of kinematics, inverse problem against kinematics is to give out the position and pose of manipulator based on the base coordinates and solve its joint variable.
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