本文讨论机器人轨线跟踪控制问题由于机器人的动态模型是高度复杂的非线性系统,对于机器人的控制变得十分困难,利用反馈控制律,我们首先把机器人的动态模型线性化,使得系统输入输出解耦并具有任意指定的极点,对于解耦后的系统考虑机器人的轨线跟踪问题,分成两类情形,一类为关节坐标空间下的轨线跟踪问题,另一类为直角坐标下的轨线跟踪问题,我们把它们归结为最优控制问题给出了求解的方法,最后把已有的结果应用到一个柱型机器人上,得到较好的仿真结果。 This article discusses the problem of robot trajectory tracking control. Because the robot’s dynamic model is a highly complex nonlinear system, it becomes very difficult to control the robot. Using the feedback control law, we first linearize the robot’s dynamic model, making the system input-output solution Coupled with arbitrary poles, the trajectory tracking problem of the robot is considered for the decoupled system. There are two kinds of situations: one is the trajectory tracking problem under the joint coordinate space, the other is the trajectory under Cartesian coordinates To track the problem, we classify them as the optimal control problem and give the solution. Finally, the existing results are applied to a cylindrical robot to get better simulation results.