A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods.
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机译：两岸四地累犯制度比较研究——兼论中国内地累犯制度一体化之构想 =Comparative Study on Recidivism System in Hong Kong, Macao, Taiwan and China: Concurrently Discuss the Conception of Recidivism System Integration in Mainland China
