主要利用MATLAB simulink模块对3 自由度的机械手臂进行建模仿真分析，并对模式中的各个模块进行非线性反馈控制，提高系统的鲁棒性，并对各模块的参数进行监控调整。(The MATLAB Simulink module is used to simulate and analyze the 3 degree of freedom mechanical arm, and the nonlinear feedback control of each module in the model is carried out to improve the robustness of the system, and the parameters of each module are monitored and adjusted.)