本文将近年来国际上提出的众多机器人高级运动控制策略纳入控制分解原理的统一体系中.控制一般可以分解为两个部分,其一是非线性补偿部分,它的功能是补偿机器人动力学的非线性,使补偿后的系统成为线性或近似线性;其二是偏差调节部分,它的功能是调节轨线的跟踪偏差.偏差调节部分应具有自适应性或鲁棒性.以便适应机器人大范围运动时动特性的显著变化,达到均匀的高性能.本文最后指出了当前机器人运动控制存在的主要问题及可能的研究方向. In this paper, many international advanced motion control strategies proposed in recent years are integrated into a unified system of control decomposition theory.Control can be generally decomposed into two parts, one is the nonlinear compensation part whose function is to compensate the nonlinearity of robot dynamics, So that the compensated system becomes linear or nearly linear.The second part is the deviation adjustment part whose function is to adjust the tracking deviation of the trajectory.The deviation adjustment part should be adaptive or robust so as to adapt to the large-scale movement of the robot Characteristics of the significant changes to achieve uniform high performance.Finally, this paper points out the main problems existing in the robot motion control and possible research directions.