机器人控制系统分析研究

Analysis on Robot Control System

机器人的动力学控制是机器人技术的重要内容,电机控制是其中的中心环节,目前已经产生多种控制方式。为此,该文对机器人的控制系统、机器人的控制方式以及机器人控制的主要控制变量进行了论述,结合电机驱动PID控制提出了主从式机器人的控制策略,给出了控制策略的解算过程。

Dynamics controlling for robot is the important part of robot technology, of which electric motor is the key. And there are many control methods at the present time. In this paper, the control system, control methods and the main control variable for robot technology are disserted. The robot control method of master-slave mode is put forward, and the deduction is given according to the PID control theory for electric motor.