基于模糊补偿的连续型空间机械臂预定时间控制

丁萌,顾秀涛,郑先杰,郭毓

Predefined-time control of continuum space manipulator based on fuzzy compensation

Meng DING,Xiu-tao GU,Xian-jie ZHENG,Yu GUO

图 2 第 n节机械臂几何模型

Fig.2 Section n geometric model of manipulator