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本文提出了一种新的基于神经网络的机器人逆动力学控制方案，不需要机器人的模型知识，利用神经网络实现外部扰动的补偿和闭环控制．该方法具有良好的跟踪精度和抗干扰性能．
In this paper, a new neural network-based robot inverse dynamics control scheme is proposed, which does not need the model knowledge of the robot and uses neural network to compensate the external disturbance and control the closed-loop. The method has good tracking accuracy and anti-jamming performance.