“小误差放大,大误差饱和”函数能够提高柔性关节机器人位置的控制品质。利用这一函数,提出了比例-非线性微分加实时重力补偿(P-ND+)位置控制算法。应用Lyapunov稳定性理论和La Salles不变性原理证明了闭环系统的全局渐近稳定性。通过仿真,采用P-ND+算法能使机械臂和关节的稳定时间从1s减小到0.2s左右,结果表明该算法比传统算法响应速度更快,验证了提出的非线性控制(P-ND+)相对于传统的线性(PD+)控制具有更好的控制品质。 “Small error amplification, large error saturation ” function can improve the control quality of flexible joint robot position. Using this function, a proportional-nonlinear differential plus real-time gravity compensation (P-ND +) position control algorithm is proposed. The global asymptotic stability of the closed-loop system is proved by Lyapunov stability theory and La Salle’s invariance principle. The simulation results show that the P-ND + algorithm can reduce the stability time of robot and joint from 1s to 0.2s, and the results show that the proposed algorithm has faster response than the traditional algorithm. The proposed P-ND + Compared with the traditional linear (PD +) control has better control quality.