On Research Progress and Development Trend for Motion Control Problems of Industrial Robots

摘要

Robotics is one of the most important technologies that affect human being in the twenty-first Century. Motion control is still the classical and difficult research problem in domain of industrial robot technology. In this paper, the important technical problems and research progress of the motion control of industrial robots are discussed. These problems include the identification of the dynamic parameters, trajectory planning, trajectory tracking and dynamic motion control of industrial robots. This paper also analyzes the direction and development trend of the future researches on these problems to adapt to the requirements of the expanding applications and escalating performances.