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通过对机器人动力学模型的分析和研究，提出了一种具有直接力矩补偿和自学习功能的机器人控制系统设计方法，该法简便、直观，并且实时处理能力较好，计算机仿真结果表明，该法所引起的机器人手部位置误差也较小。
A robot control system design method with direct torque compensation and self-learning function is proposed by analyzing and studying the robot dynamics model. The method is simple, intuitive and real-time processing ability is good. Computer simulation results show that the method The robot hand caused by the position error is also smaller.