针对工业机器人伺服系统结构和控制分离设计误差较大的问题，提出一种基于结构-控制耦合的集成设计方法。以结构重量、跟踪精度和控制能量指标为目标函数，以稳定和快速跟踪性能指标为约束，同时考虑结构与控制的耦合，采用分步迭代策略消减误差，以实现工业机器人工作在最佳状态的目标。以两关节机器人设计为例进行MTALAB仿真实验，结果表明，应用基于结构-控制耦合的集成方法设计，伺服系统具有较好的鲁棒性，在时间调整、超调量消除、阶跃动态响应能力等方面均优于分离设计，使机器人的综合性能达到最优。
Focused on the large error of separation design for industrial robot servo system structure and control, a new integrated design method for coupling structure and control is proposed. The method takes the structural weight, tracking precision and control energy as the target function, takes stable and fast tracking performance as the constraint, and considers the coupling problem of structure and control by using a step iterative strategy so as to achieve the goal of the industrial robot working in the best state. The integrated design method is evaluated via MTALAB on a two joint robot. Simulation results show that the proposed method can make the industrial robot have good robustness, and that the adjustment of the length of time, overshoot elimination and step response are all superior to those by separation design, the robot system being working in optimal performance.
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