宏程序在热pd处理机床能量监控系统中的应用Macro in the heat treatment machine control system of energy-Macro in the heat treatment machine control system of energy

基于重力补偿控制的二自由度机器人，仿真表明较传统机器人PD控制，其控制轨迹精度大大提高-Two-degree-of-freedom robot based on the gravity compensation control, simulation shows that the more traditional robot PD control, greatly improved the accuracy of the control track

PD control system via ziegler nichols