中文摘要：

结合超声电机的运行特点,运用田口参数设计法对超声电机驱动的多关节机器人的总共18个控制参数进行了有效调节,并获得了一组最优且具有鲁棒性的控制参数。实验研究证明,在机器人平稳运行的前提下,所获得的这组控制参数不仅适用于机器人绘制各种不同的图形,而且可以获得高的位置精度。

英文摘要：

According to the operating characteristics of ultrasonic motors,parameter design of Taguchi method was adapted to effectively regulate a total of 18 control parameters of multiple joint robot driven by ultrasonic motors.An optimal and robust set of controller parameters was obtained.Results show that,at the premise of smooth operation of the robot,the set of control parameters applies to different graphics drawn by the robot,and improves the accuracy of the positions.