本文研究了工业机器人两级微机控制中第二级位置伺服 Fuzzy 控制问题。机器人的动力学特性具有严重的非线性,且各关节之间存在强耦合,因此基于精确数学模型设计控制系统的传统方法,对机器人控制难以奏效,而采用自校正控制在线计算量过大,且不易用汇编语言实现,实时性差。本文提出的三维 Fuzzy 控制器经仿真实验结果表明,它具有响应时间短,无超调以及对被控对象的非线性、时变性有较强的鲁捧性(robustness),因此将它用于机器人控制是很适宜的。 This paper studies the second-stage position servo Fuzzy control in the two-level microcomputer control of industrial robots. The dynamics of robots have serious nonlinearities and strong coupling between joints. Therefore, the traditional method of designing control system based on precise mathematical model is difficult to control robots, while online computation is too large with self-tuning control and Not easy to use assembly language, real-time poor. The simulation results of the three-dimensional Fuzzy controller proposed in this paper show that it has the advantages of short response time, no overshoot and strong robustness to the nonlinearity and time-varying of the controlled object. Therefore, it is applied to robots Control is very suitable.