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。
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。
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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