| 移动电话资费的几个问题 |
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| 引用本文： | 谢雪梅,胡宏,谢世昌. 移动电话资费的几个问题[J]. 吉林大学学报(信息科学版), 1997, 0(3) |
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| 作者姓名： | 谢雪梅 胡宏 谢世昌 |
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| 作者单位： | 长春邮电学院管理工程系，北京邮电大学 |
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| 摘 要： | 分析了目前我国移动电话业务资费及其存在的问题，并依据移动电话业务的成本，提出了移动电话业务的资费标准并指出主叫单向收费是我国移动电话资费改革的方向。
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| 关 键 词： | 移动电话，电信资费，单向收费，双向收费 |
Variable structure trajectory control of two link flexible robotic manipulator |
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| Liu Yan. Variable structure trajectory control of two link flexible robotic manipulator[J]. Journal of Jilin University:Information Sci Ed, 1997, 0(3) |
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| Authors: | Liu Yan |
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| Abstract: | A nonlinear dynamic model of a two link manipulator with flexible forearm is established.In order to conveniently realize a controller,a relative float frame is adopted as the body coordinate refrence where the flexible arm is located.Thus,the actual rotary joint angle is coincident with that of body frame.Based on the input output linearization,a variable structure control law for frajectory tracking is proposed,in which the stability of elastic deformation and the robustness for parameter variation of this manipulator are considered. |
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| Keywords: | Nonlinear control Robots Flexible manipulator Input output linearization |
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