The controller consists of a linear PD feedback part, a nonlinear adaptive feedback part to compensate for the dynamics of robot and a robust control part to compensate for the uncertainties of model.

该控制器由三部分组成：线性PD反馈项，补偿动力学的自适应控制项，补偿建模不确定性的鲁棒控制项。

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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。

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These possess important guiding significance to the study of dynamics characteristics of its explosive while the explosive removing robot is moving on the complicated road surfaces.

这对于研究排爆机器人在复杂路面运动时其爆炸物的动力学特性具有重要指导意义。

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