The method put forward is practical application and lays a foundation for path-planning and off-line programming for robot welding system.
机器人逆运动学分析方法在实际中得到了应用，为实现弧焊机器人系统路径规划和离线编程奠定了基础。
2
First, a study of a sliding mode controller under on off training is made and then the on line learning algorithm using a gradient decent method is designed.
首先研究了离线训练的滑模控制器，然后，给出了利用梯度下降法的在线训练方法。
3
The proposed method can be used as an efficient tool for distribution network on-line dispatching, planning and off-line analysis.