本文针对机器人关节电液位置伺服系统的特点,运用最优线性二次型控制系统设计原理,设计出了机器人关节最优状态反馈控制器,并用一种简单方法来克服系统非线性特性的影响,并通过实时控制实验证明其有效性。 In this paper, according to the characteristics of robot electro-hydraulic position servo system, by using the optimal linear quadratic control system design principle, the robot joint optimal state feedback controller is designed and a simple method is used to overcome the influence of nonlinear characteristic of the system. And through real-time control experiment proved its effectiveness.