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提出了一种基于Ｔａｙｌｏｒ级数展开的直接驱动型机器人操作臂的轨迹解耦跟踪控制方法．利用Ｔａｙ－ｌｏｒ级数对系统的逆动力学进行动态线性化和预测，并在相平面内设计控制器，可大大提高闭环系统的性能
A control method of trajectory decoupling tracking control for a direct-driven robot manipulator based on Taylor series expansion is proposed. Using Taylor-lor series to dynamically linearize and predict the inverse kinematics of the system, and designing the controller in the phase plane can greatly improve the performance of the closed-loop system