工业机器人控制器研究的发展轨迹和体系构建

摘要

Developed with full autonomy and anthropomorphic intelligent robots have become the main topics of the research and development of scientists from various countries. The robot controller is the core of the brain of the robot control system. The main task of the controller is to solve the forward and inverse kinematics of the robot, and finish the conversion of the robot operating space coordinates and joint space coordinates, complete robot trajectory planning task and high-speed servo interpolation operation and servo motion control%研制具有完全自主能力的、拟人化的智能机器人已经成为各国科学家研发的主要课题。机器人控制器是机器人控制系统的核心大脑,控制器的主要任务是对机器人的正向运动学、逆向运动学求解,以实现机器人的操作空间坐标和关节空间坐标的相互转换,完成机器人的轨迹规划任务,实现高速伺服插补运算、伺服运动控制。