鎽� 瑕侊細鍩轰簬鍕曟厠(t脿i)鏂圭▼鍜孒amilton-Jacobi鍘熺悊锛屽緸纭欢鍒拌粺浠�锛岃ō(sh猫)瑷堜簡姗�(j墨)鍣ㄤ汉姗�(j墨)姊版墜鑷傜殑闂�(gu膩n)绡€(ji茅)椹�(q奴)鍕曟帶鍒剁郴绲�(t菕ng)銆備富瑕佷换鍕�(w霉)鏄娇瑭茬郴绲�(t菕ng)鐨勮兘鑰楁渶灏忓寲銆備豢鐪熷拰瀵�(sh铆)椹�(y脿n)鐨勭祼(ji茅)鏋�锛岃瓑鏄庝簡瑭茬郴绲�(t菕ng)鐨勫彲鐢ㄦ€у拰婧�(zh菙n)纰烘€�銆� 闂�(gu膩n)閸佃锛�姗�(j墨)鍣ㄤ汉姗�(j墨)姊版墜鑷�锛岄﹨(q奴)鍕曠郴绲�(t菕ng)锛岃€楄兘锛岃▓绠楁(j墨)鎺у埗 Abstract: This paper presents a computer control system for driving robotic manipulator. The main task of the system is minimizing the dissipated energy. Basing on dynamic equation of robotic manipulator and Hamilton-Jacobi theory, we design the control system from hardware to software. Simulations and experiments confirm the usability and accuracy of the system. Key words: robotic manipulator, driving system, dissipated energy, computer control. 銆€銆€闅ㄨ憲鍒堕€犳垚鏈殑闄嶄綆銆�锛屽伐浣滄晥鐜囧拰鍙潬鎬х殑椤憲鎻愰珮锛屾(j墨)鍣ㄤ汉鍦ㄧ従(xi脿n)浠ｅ伐妤�(y猫)鐢熺敘(ch菐n)涓殑鎳�(y墨ng)鐢ㄨ秺渚嗚秺寤ｆ硾銆傚叾闁�锛岄嚌灏嶆(j墨)鍣ㄤ汉姗�(j墨)姊版墜鑷傞棞(gu膩n)绡€(ji茅)椹�(q奴)鍕曠郴绲�(t菕ng)鐨勯亱(y霉n)鍕曞垎鏋愬拰鎺у埗鏂规硶锛岀溇澶氬(xu茅)鑰呯櫦(f膩)琛ㄤ簡鑷繁鐨勮瑙ｅ拰鎴愭灉[1][2]銆傝垏姝ゅ悓鏅傦紝濡備綍閬�(y霉n)鐢ㄦ渶鍎�(y艒u)鎺у埗鐞嗚珫鍜屾柟娉�锛屼娇寰楄┎椹�(q奴)鍕曠郴绲�(t菕ng)鐨勮兘鑰楁渶灏忓寲浠ヤ繚璀�(h霉)鐠�(hu谩n)澧冿紝宸茬稉(j墨ng)鎴愮偤鐮旂┒涓殑閲嶉粸(di菐n)鍟忛涔嬩竴[3][4]銆傚皪姗�(j墨)鍣ㄤ汉鍜屽叾浠栧伐妤�(y猫)鐢ㄦ(j墨)闆荤敘(ch菐n)鍝佽€岃█锛岄€欎竴榛�(di菐n)椤緱瓒婁締瓒婇噸瑕�銆� 1 鍕曟厠(t脿i)鏂圭▼鍜屾渶灏忚兘鑰� 銆€銆€涓嶅け涓€鑸€э紝鍦≒TP锛坧oint to point锛岄粸(di菐n)鍒伴粸(di菐n)鐨勪綅缃帶鍒讹級妯″紡涓�锛屽亣瑷�(sh猫)搴緰鎽╂摝鍔涚附鏄偤姝ｏ紝鍥�?y脿n)姒绘挰淇ｉ箠濮嗚緝铔炴仮鍖楋紦妞嶈洈鍎�? 瑭虫儏璜嬮粸(di菐n)鎿婏細姗�(j墨)鍣ㄤ汉姗�(j墨)姊版墜鑷傞棞(gu膩n)绡€(ji茅)椹�(q奴)鍕曟帶鍒剁郴绲�(t菕ng)瑷�(sh猫)瑷�