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Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

16Th night,ministhy of health is a aviso,there is a first hini ful case in beijing,petinet is a school girl from usa ,she is accpet help in ditun hospital now,her illness are calm

16日晚，卫生部通报，北京确诊一例输入性甲型H1N1流感病例。患者为一名11日从美国归国的女学生，目前正在地坛医院接受治疗，病情平稳。

The first input, in this case with the left hand, will look and feel just like the start of a Half Axel.

第一个动作，在这个例子中是左手，看起来并且在感觉上都如同Half Axel的开始动作。

The first could be the case if the product you are selling to these "senior types" is quite pukka, meaning that a barrow boy isn't the right person to sell it.

如果向那些"高管"们销售的产品相当高端，那就可能属于第一种情况，就是说一个手推车货郎不适合销售这种产品。

First of all, the basis of AIDS patients will increase metabolic rate, metabolic basis of HIV infection can increase the rate of 10%, in case of any opportunistic infections, basal metabolic rate increased even more evident.

首先，艾滋病患者基础代谢率会增加，感染HIV可使基础代谢率提高10%，如果发生机会性感染，则基础代谢率升高更为明显。

Search engine optimizes this concept to be in China now, of promotion pretty good (I think great majority should be attributed to mail of partial Seo company group the contribution) of hair, in every case is price of full contest of Baidu home page, go GG home page looks, having a lot of websites is somebody is being done optimize, the likelihood is Seo company the Seo that also may be company interior education is managing, my the first pace is to check home page of all websites outside catenary, look to whether have group of hair and so on, now nowadays, see certain website has a few W exterior link, I already be accustomed to sth.

现在搜索引擎优化这个概念在中国，推广的不错(我想大多数应该归功于部分seo公司邮件群发的功劳)，但凡是百度首页满竞价的，去GG首页一看，有许多网站是有人在做优化的，可能是seo公司也可能是公司内部培养的seo在治理，我的第一步是查首页所有网站的外链，看看是否有群发之类的，现如今，看到某一个网站有几W条外部链接，我已经习以为常了。

In case of No- Show the credit card will be charged with the amount of the first night.

这种情况，您的入住总额将会在您预订的时候从您的信用卡支取。

In case of late cancellation or no-show your credit card will be charged with the first night.

这种情况，您的入住总额将会在您预订的时候从您的信用卡支取。

In this case, we must first accept 14 dB of overall loss below the zero.

在这种情况下，我们先必须接受在零点频率以下的频段全面损失14dB。

He was found guilty of bigamy in American's first big polygamy case in nearly 50 years.

在这场美国近五十年来的第一桩一夫多妻的大官司当中，他被判犯了重婚罪。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。