一、引言一个机器人的电液伺服系统是非线性的多输入多输出系统,几个关键的动力学参数(固有频率和阻尼比等)受负载变化的影响较大。此外,机器人的各关节还要受到干扰力矩的影响。因此,使得机器人的控制具有时变惯性和强烈干扰的特点,致使其动力学控制变得异常复杂和困难。为了克服上述困 I. INTRODUCTION The electro-hydraulic servo system of a robot is a nonlinear multi-input and multi-output system. Several key dynamic parameters (natural frequency and damping ratio, etc.) are greatly affected by load changes. In addition, the robot’s joints are subject to disturbing torque. Therefore, the control of the robot has the characteristics of time-varying inertia and strong interference, which makes its kinematic control extremely complicated and difficult. In order to overcome the above difficulties