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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。

By means of the averaging method, the first approximate solution and corresponding solution of the primary parametric resonance was obtained.

应用平均法求得系统主参数共振时的解，分析了发电机组电磁参数对共振特性的影响，揭示了一些新现象。

The coordinate formula derived in this paper for the axonometric projection of points on the screen satisfactorily meets the demand of parametric methods and can be easily applied in computer graphics.

推导出的屏幕上点的轴刻投影坐标式，完全满足计算机易于使用的参数方法的要求。

The program developed with the formula enable the coordinates for points and the parametric formula for curves in the orthographic projection to be transferred into ones in the axonometric projection, which can be directly displayed on the screen. In addition, except for assigned different values to elastic coefficient of the axial direction and the angles of the axes, it is generally adapted in drawing any of the axonometric projections.

用它编程，可以把正投影中点的坐标或曲线的参数方程，转换成屏幕上能够直接显示点的轴测投影的坐标或曲线的轴测投影的参数方程，而且除了赋轴向伸缩系数和轴间角的大小、正负不同的参数值外，对绘任一种轴测投影和相应正投影都具有通用性。

Chapter 4 uses barycentric subdivision method on arbitrary discrete parametric curves net.

第四章考虑上述的重心加细方法，将之应用于任意的离散参数曲线网上。

Considering the [2] and barycentric subdivision method, chapter 3 imports some discrete objects-discrete parametric curves net.

第三章以离散化思想为指导，参考文献[2] ，并利用重心加细的方法，给出了一系列离散化的研究对象，如离散参数曲线网等。

In chapter 4, the method of founding a 3D parametric standard part base for assemble in hot runner design was presented.

第四章，介绍了热流道设计中一个面向装配的三维参数化标准件库的建立方法。

The application of ORTH in baseband modulation is investigated, and a new parametric Nyquist pulse design method is proposed.

对ORTH在基带调制的应用进行了研究，给出了一种新的具有可控参数的Nyquist设计方法。

Parametric results can provide theory reference for the optimum design of the flanged joint subjected to external bending moment.

参数化研究结果为承受外弯矩作用的法兰优化设计提供了理论依据。

This arithmetic can reduce the complexity greatly.3. EBFB was a new class of even-length biorthorgonal wavelet filter banks base on Parametric Bernstein. Due to the uncertainty of parameters of the Bernstein Polynomial, a design method for optimizing EBFB filter banks based on genetic algorithms was presented.

EBFB小波滤波器是基于伯恩斯坦多项式的偶数长双正交小波滤波器组，本文针对伯恩斯坦多项式中参数的不确定性，提出了一种基于遗传算法的EBFB双正交小波滤波器组的优化设计方法。

Lugalbanda was a god and shepherd king of Uruk where he was worshipped for over a thousand years.

Lugalbanda 是神和被崇拜了一千年多 Uruk古埃及喜克索王朝国王。

I am coming just now,' and went on perfuming himself with Hunut, then he came and sat.

我来只是现在，'歼灭战perfuming自己与胡努特，那麼，他来到和SAT 。