机器人控制的任务在于操作机器人控制器,使之跟踪某一给定轨迹,或到达一给定位置。这种控制分别称为跟踪或位置控制。早期应用经典方法解决上述问题,虽然进行了补偿,但由于机器人动力学的高度非线性与耦合性,使得这种方法还不够完好。后来发展了机器人的现代控制方法。本文介绍了经典的机器人控制方案及预计算力矩方法等。关于机器人现代控制方法待续。 The task of robot control is to operate the robot controller so that it follows a given trajectory or reaches a given position. This control is called tracking or position control respectively. Early application of classical methods to solve the above problems, although the compensation, but due to the highly nonlinear robot kinematics and coupling, making this method is not yet intact. Later developed a modern robot control methods. This article introduces the classical robot control scheme and precomputed torque method. About modern robot control methods continued.