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Open nowPosted 10 days ago

机器人力控算法工程师

wcn7iq2vq1am/86371186 open roles

Where
Shanghai, Chinese Mainland
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Your applicationOpen now机器人力控算法工程师wcn7iq2vq1am/863711 · Shanghai, Chinese Mainland

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The clock on this job

Early applications get read.

12.3% of postings close within 7 days. Measured by our own scanner across the market. wcn7iq2vq1am/863711 postings stay open a median of 1 days.

Share of postings closed within
  1. 2.1%1 day
  2. 4.5%3 days
  3. 12.3%7 days
  4. 19.3%14 days
  5. 35.6%30 days
  6. 58.1%60 days
This job: posted 10 days ago

wcn7iq2vq1am/863711 median: 1 days open

The posting

1.设计，实现和优化关节力矩控制算法，包括反馈控制、前馈补偿、扰动观测及相关控制策略，分析执行器、减速器及传感器等环节的动态特性，提高关节力矩控制精度、动态响应及抗扰能力。 2.负责关节摩擦特性分析、建模与补偿算法开发，研究摩擦对低速运动、力控精度及柔顺性能的影响。 3.分析关节控制回路与整机动力学模态之间的相互作用，定位并解决整臂振动、动态耦合及控制性能退化等问题。 4.负责力矩传感器等反馈信号的标定、滤波，分析噪声、温漂、采样频率及时延对控制性能的影响。 5.负责制定关节及整臂力控系统的性能评价指标、测试方法和验收标准。 6.设计不同姿态、负载和运动条件下的真机实验，分析力控性能变化及系统瓶颈。 7.建立可复现的测试流程与数据分析方法，形成标准化测试用例、性能评估报告和算法改进建议。

1.教育背景与工作经验： 硕士及以上学历，控制工程、自动化、机械电子、机器人等相关专业；具有 2 年及以上机器人控制算法研发经验，有真实机器人关节力控或整臂力控算法开发和部署经验。优秀候选人可适当放宽学历及工作年限要求。 2.控制理论基础： 具备扎实的经典控制与现代控制理论基础，熟悉 PID、状态空间、频域分析及控制系统稳定性理论，理解控制带宽、相位裕度、阻尼、时延等因素对控制性能的影响，能够独立完成控制器设计、参数整定与稳定性分析。 3.关节力控算法： 熟悉机器人关节力矩控制原理，理解电机、减速器、传感器及驱动系统的动态特性，具备力矩控制器设计、摩擦补偿、扰动观测或动力学补偿相关开发经验。 4.机器人动力学与柔顺控制： 熟悉机器人运动学与动力学建模，理解阻抗控制、导纳控制及力位混合控制原理，能够分析关节耦合、负载变化及机械柔性对整臂力控性能的影响。 5.系统辨识与实验分析： 具备系统辨识及控制系统实验分析能力，能够通过阶跃响应、频率响应等测试分析系统动态特性，定位控制振荡、机械共振、力矩跟踪误差等问题，并提出合理的控制改进方案。 6.传感与信号处理： 熟悉常见的信号处理和状态估计方法，理解传感器噪声、滤波时延、采样频率及反馈延迟对力控系统的影响，具备关节力矩传感器或六维力/力矩传感器的使用、标定或数据处理经验。 7.算法开发与工程实现： 熟练使用 C++、Python 或 MATLAB/Simulink 开展控制算法开发、仿真及数据分析，具备 Linux 环境下的算法开发与真机调试能力。 8.真机验证与性能评估： 具有独立开展机器人控制实验的能力，能够制定测试方案，建立量化评价指标，并通过可复现的实验验证算法性能及优化效果。 9.沟通协作与问题解决： 具备良好的工程实践意识和跨团队协作能力，能够与硬件、固件及运控软件团队协作，独立分析并推动解决实际控制问题。

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