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讨论JRB-1工业机器人伺服控制的设计与实现问题．为简化控制器，采用单关节设计方法，讨论了控制参数的设计，并提出在线优化参数方法．为抑制单关节设计方法中存在的动态耦合、重力、摩擦等干扰，提出一种新的动态补偿方法．将这种方法应用于单关节控制器，可得到线性解耦的关节运动．这种方法根据电机转速和电流，估计和抑制干扰，不需大量计算，实现简单，补偿效果好．上述方法已在JRB-1机器人上得到实现．
Discuss the design and implementation of JRB-1 industrial robot servo control. In order to simplify the controller, the single joint design method is used to discuss the design of the control parameters and to propose the method of online optimization of the parameters. In order to restrain the dynamic coupling, gravity, friction and other interference existing in the single joint design method, a new dynamic compensation method is proposed. Applying this method to a single joint controller results in a linear decoupled joint motion. This method according to the motor speed and current estimation and suppression of interference, without a lot of calculations, to achieve simple, good compensation effect. The above method has been implemented on the JRB-1 robot.