一、引言最近几年,机器人的应用越来越广泛,所能完成的功能,也比以前有了很大的增加。现在,机器人已用于多种制造业,包括汽车制造业、铸造业、重工业制造业、轻工业制造业、电子、电气制造业和航空与航天工业。尽管机器人在这些行业中,用途有所不同,但它们所具有的技术特性和技术问题是相似的。一个典型的机器人通常有几个运动轴,如何实现对这些轴的运动控制,就是机器人的共同问题之一。过去,机器人各轴的运动控制,一般是采用共用一台处理器的伺服系统,对各运动轴实行分时控制。这种 I. INTRODUCTION In recent years, the application of robots has become more and more widespread, and the functions that can be accomplished have greatly increased than before. Robots are now used in a variety of manufacturing industries, including automotive, foundry, heavy industry, light manufacturing, electronics, electrical manufacturing and the aerospace industry. Although robots have different uses in these industries, they have similar technical features and technical problems. A typical robot usually has several axes of motion. One of the common problems of robots is how to control the motion of these axes. In the past, the motion control of each axis of a robot generally adopts a servo system that shares a processor and implements time-sharing control on each motion axis. This