This paper has studied the dynamics control of the two-degree-of-freedom robot controlled by PMSM. The whole system is divided into 2 parts: the drive motor model and the robot model. Each connecting rod is controlled by a permanent magnet synchronous motor and the robot joint position control adopts adaptive control to establish the robot dynamics control system. The simulation of the robot system is completed by using the simulink module of the MATLAB. And the simulation results show that the robot dynamic control system can realize precisely the position tracking control in a short time. The propositional control method is simple and easy to implement and has good control effect and a good application prospect. However, many functions need to be added and many control theories need to be taken into account. For example, although adaptive control is appropriate for a class of systems where object characteristics or perturbation characteristics vary widely and are often required to maintain high performance specifications, it should be pointed out that adaptive control is more complex and costly than conventional feedback control. So how to solve this problem will be my next stage of research.
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