| Abstract | 第4-5页 |
| Introduction | 第7-12页 |
| Chapter 1 Mathematical modeling of manipulators and other managed systems | 第12-36页 |
| 1.1 Overview methods for describing the kinematics and dynamics of manipulators | 第12-15页 |
| 1.1.1 Analysis of existing methods for the synthesis of control algorithmsmanipulative industrial robot | 第12-14页 |
| 1.1.2 Analysis of existing methods compensation nonlinearities and outcome ofinteractions manipulative industrial robots | 第14-15页 |
| 1.2 Overview methods for describing the kinematics and dynamics of manipulators | 第15-17页 |
| 1.3 Modeling the controlled systems | 第17-36页 |
| 1.3.1 Modeling the controlled system with instant feedback | 第17-29页 |
| 1.3.2 Control of systems with delayed feedback | 第29-36页 |
| Chapter 2 Modeling motion manipulators | 第36-60页 |
| 2.1 Modeling motion systems described by lagrange’s equations | 第36-44页 |
| 2.2 Modeling of controlled manipulator motion as a system of coupled rigid bodies withthe leading body commits a given motion | 第44-56页 |
| 2.3 Model of manipulator in the form a free system of coupled rigid bodies | 第56-60页 |
| Chapter 3 Control models two- and three-link manipulators | 第60-73页 |
| 3.1. Model for two-link manipulator | 第60-64页 |
| 3.2. Modeling controlled motion two-link manipulator on a movable base | 第64-67页 |
| 3.3. Modeling controlled motion of tree-link manipulator | 第67-73页 |
| Conclusion | 第73-74页 |
| Acknowledgements | 第74-75页 |
| References | 第75-81页 |
| 攻读学位期间的研究成果 | 第81页 |
