研究了两自由度机械手终端夹持不定载荷时的输出跟踪问题。应用输入 /输出反馈线性化法和李亚普诺夫方法 ,提出了一种基于不确定项上界的机械手鲁棒输出跟踪控制器设计算法。所述控制器可确保系统输出按指数规律跟踪期望输出 ,同时相应闭环系统的状态一致最终有界。该方法计算简单 ,容易实现。仿真结果证明了其可行性及有效性。 The problem of output tracking when a two-degree-of-freedom manipulator is clamped under indefinite load is studied. A robust robust output tracking controller design algorithm based on uncertain upper bound was proposed by using input / output feedback linearization method and Lyapunov method. The controller ensures that the system output follows exponentially the desired output, while the states of the corresponding closed-loop systems are ultimately bounded. The method is simple and easy to implement. Simulation results prove its feasibility and effectiveness.