前言二自由度液压关节型机器人之间存在着交连影响,所以消除系统的交连影响而使之具有良好的控制性能,这是系统优化设计的重要课题之一,但目前国内外关于此问题的研究论文并不多见。有人采用一阶解耦滤波器进行过研究,本文将多变量控制系统的解耦理论运用到实际机器人系统中,在找出耦合关系的基础上,提出了一种解耦方法,并进行了数字仿真研究,经初步实验证 Preface The two-degree-of-freedom hydraulic articulated robots have a cross-linking effect, so to eliminate the system of cross-linking effect so that it has good control performance, which is an important issue of system optimization design, but at home and abroad on this issue The research papers are rare. Some people use the first-order decoupling filter to conduct the research. In this paper, the decoupling theory of multivariable control system is applied to the actual robot system. Based on the finding of the coupling relationship, a decoupling method is proposed and a digital Simulation research, the initial verification