中文说明：
基于HiJ理论的滑膜鲁棒控制，对机器手动力学控制进行了建模，设计了滑膜控制器，并进行了仿真分析。
English Description：
Based on the synovial robust control of hij theory, the manual mechanical control of the machine is modeled, the synovial controller is designed, and the simulation analysis is carried out.