机器人学习控制旨在采用简单的控制器结构和易于实现的控制算法,提高机器人轨迹动态跟踪精度。本文讨论了机器人控制研究中存在的困难,简要回顾了早期学习控制思想的形成和发展,重点介绍了近年来国内外有关机器人学习控制研究的现状。 Robot learning control aims to improve the dynamic tracking accuracy of robot trajectory by using a simple controller structure and easy-to-implement control algorithm. This paper discusses the difficulties in robot control research, briefly reviews the formation and development of early learning control ideas, and highlights the current research status of robot learning control both at home and abroad in recent years.