本文提出一种关节型机器人的自适应逆模控制结构,采用机器人关节的等效线性系统的逆系统模型和满足可实现性条件的滤波器来构造相应的控制器,并由自适应机构在线建立和修改逆模的参数,使机器人的实际运行轨迹渐近地再现希望轨迹。仿真实验结果表明:采用本方案构造的控制系统响应速度快,跟随精度高、抗干扰能力强。此外,系统结构简单,易于实现。 In this paper, an adaptive inverse model control structure of articulated robot is proposed. The inverse system model of the equivalent linear system of the robot joint and the filter satisfying the realizable conditions are used to construct the corresponding controller. The adaptive mechanism is established online And modify the parameters of the inverse mode so that the actual trajectory of the robot asymptotically reproduces the desired trajectory. Simulation results show that: The control system constructed by this scheme has fast response, high follow-up precision and strong anti-interference ability. In addition, the system structure is simple and easy to implement.