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本文提出了针对多关节机器人采用单个神经元的独立关节控制方案，控制器由ＰＩＤ反馈和ＰＤＤ２前馈补偿构成，关节之间的静态和动态耦合通过单个神经元控制器前馈补偿．对一个二自由度机器人采用这种控制策略进行仿真．仿真结果表明该控制器在有非线性耦合、非线性摩擦、负载变化、模型参数变化时仍能跟踪期望轨迹．
In this paper, an independent joint control scheme using a single neuron for multi-joint robot is proposed. The controller consists of PID feedback and PDD2 feedforward compensation. The static and dynamic coupling between joints is compensated by a single neuron controller. This control strategy is used to simulate a two-degree-of-freedom robot. The simulation results show that the controller can track the desired trajectory with nonlinear coupling, nonlinear friction, load changes and model parameters changes.