中文摘要：

针对直接驱动机器人结构参数与摩擦参数的非确定性，提出机器人自适应-PD控制策略。首先分析了机器人的两类不确定性，推演了机器人动力学方程，给出不确定性动力学结构量的线性化表示；然后，对关节摩擦力矩矢进行了建模；为补偿动力学不确定性给机器人带来的控制误差，构建含位置与速度反馈的双闭环控制系统，引入自适应机构辨识不确定性参量，并据此规划出自适应控制律；为提高运动控制精度，在控制器中嵌入PD子控制器。仿真实验显示，系统的位置和角速度跟踪误差分别为-0.02°-0.03°与±0.005rad/s，表明自适应-PD控制律可实现直接驱动机器人精密轨迹控制。

英文摘要：

In order to improve the direct drive robot （DDR）’s trajectory tracking accuracy, a hybrid controller consisting of an adaptive sub controller and a PD sub controller was proposed. Firstly, the dynamical uncertainty of the robot was investigated while the uncertainty friction in the robot joints was modeled and the kinematics equation of the robot manipulator was derived. Then, a two close loops control system with position and speed feedback was built for the robot, and an adaptive controller being capable of identifying the uncertainties of the robot’s manipulator was employed so as to compensate the control error brought from the robot’s dynamic uncertainty. Moreover, a PD controller was embedded in the hybrid controller so as to improve the robot’s tracking accuracy. With the aim to guarantee the stability of the system, an adaptive law was presented. Finally, simulations have been accomplished to validate the feasibility of the controller. The results show that the position error and speed tracking error of the robot are limited to -0.02°-0.03° and ±0.005rad/s, which means that hybrid controller can make the robots track the desired trajectory with higher precision, and it exists widely application prospect.