It can overcome the nonlinear characteristics aroused by the change of model working point, and can also guarantee the decouple performance between the control loops.
它既可以克服模型工作点变化所带来的非线性问题，同时又可以保证控制回路间的有效解耦。
A new adaptive control algorithm is proposed in this paper to compensate nonlinear terms in the dynamic equation of robot and decouple the dynamic interaction among the joints.
本文提出一种新的自适应控制算法，用于补偿机器人动力学方程中的非线性项和消除关节间的耦合。
A new adaptive control algorithm is proposed in this paper to compensate nonlinear terms in the dynamic equation of robot and decouple the dynamic interaction among the joints.
本文提出一种新的自适应控制算法，用于补偿机器人动力学方程中的非线性项和消除关节间的耦合。
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