中文摘要：

针对机器人控制研究中缺少良好控制性能,难以用于实际应用的问题,本文以二自由度关节机器人的关节控制为研究对象,采用永磁同步电机作为机器人关节的驱动电机,利用机器人的位置控制与PMSM的电流控制相结合方法,实现关节机器人的高性能控制。机器人位置控制时,采用PD加重力补偿的控制;PMSM电流控制时,采用滑模控制。根据控制方法搭建机器人伺服控制模型,并对整个系统进行了稳定性分析。仿真结果表明,系统能较快达到稳定状态,末端运动轨迹符合规划要求,实现了机器人关节的控制要求。研究结果证明,带有PD加重力补偿的滑模控制方法具有较快的响应速度,减小了到达稳态的时间,且控制精度较高,具有良好的控制效果。该设计具有一定的实际应用价值。

英文摘要：

This paper takes the permanent magnet synchronous motor （PMSM） as the drive motor of robot joint and realizes the high performance control of the joint robot by combining the position control of the robot and the current control of the PMSM. The position control of robot is controlled by PD and gravity compensation, while the control of PMSM current is controlled by sliding mode control. According to the control method, it builds the robot servo control model, and analyzes the stability of the whole system. The simulation results show that the system is relatively fast reaching stable, and the trajectory of end-ef- fector conforms to the requirements of the planning, which achieves the control requirements of the robot joint. The results show that the sliding mode control method with PD plus gravity compensation has fast response speed, and has higher control accuracy. The method proposed in the paper has good control effect.