文档介绍：I 摘要为了使机器人完成各种调控手段执行不同的任务和行动。作为一个计算机系统, 领先的技术,计算机控制技术,其中包括非常广泛,从智能机器人,任务的描述来控制伺服运动控制技术。以实现各种硬件系统的控制都需要的,并且包括各种软件系统。第一机械手控制方法使用顺序的,与计算机,机器人使用的计算机系统的整合的机械和电气设备的功能,以及使用的教学和重放控制的。随着信息技术和控制技术的发展, 以及扩大机器人的范围内,智能控制技术,机器人正朝着的方向发展,它已经离线编程,高级语言任务,多传感器信息融合,智能控制行为等新技术。技术将促进各种智能机器人的发展。当今的自动控制技术都是基于反馈的概念。反馈理论的要素包括三个部分:测量、比较和执行。测量关心的变量,与期望值相比较,用这个误差纠正调节控制系统的响应。这个理论和应用自动控制的关键是,做出正确的测量和比较后,如何才能更好地纠正系统。 PID (比例-积分-微分) 控制器作为最早实用化的控制器已有 50多年历史,现在仍然是应用最广泛的工业控制器。 PID 控制器简单易懂,使用中不需精确的系统模型等先决条件,因而成为应用最为广泛的控制器。它由于用途广泛、使用灵活,已有系列化产品,使用中只需设定三个参数( Kp ,Ti 和 Td )即可。在很多情况下,并不一定需要全部三个单元,可以取其中的一到两个单元,但比例控制单元是必不可少的。关键词: 机器人,机器人控制, PID , 自动控制 II Abstract To enable the robot plete a variety of control means various tasks and actions performed. As puter system, the key technology, computer control technology, including a very wide range, from the robot intelligent, task description to the motion control and servo control technology. Both needed to achieve control of various hardware systems, and includes a variety of software systems. The first robot uses sequential control mode, with the development of puter, the robot uses puter system to integrate the functions of mechanical and electrical equipment, and the use of teaching and playback control. With the development of information technology and control technology, and expanding the scope of application of the robot, intelligent robot control technology is moving in the direction of development, there has been off-line programming, task-level language, multi-sensor information fusion, intelligent behavior control and other new technologies. Technology will facilitate the development ofa variety of intelligent robots. Today's automatic control techniques are based on the concept of feedback. Elements feedback theory consists of three parts: the measuring, comparing and implementation. Variable measurements concern, compared with expectations, with the error correction control system response regulator. The key to the theory and application of automati