Firstly,PID parameters of DC motors were optimized by using genetic algorithm,then the joint angle trajectory was discredited,and divided PID control method was used to decrease the control error of the joint angle.

• 首先采用遗传算法对电机的PID参数进行优化,并对关节运动转角轨迹进行离散化,电机运动控制采取分段PID的策略,以减小关节转角误差。