钻锚机器人是实现煤矿综掘智能化的重要装备，其机械臂的控制效果直接影响钻锚机器人支护作业的安全性和高效性。钻锚机械臂的控制通常采用PID控制器，但在环境恶劣、煤层复杂的工况下，PID控制器的参数选择对控制效果影响较大，且由于受整数阶PID控制算法和传统经验调参的限制，难以在短时间内找到控制效果最好的一组参数，导致机械臂末端不能及时准确定位。基于机器人技术、分数阶控制技术和智能优化算法，采用数值建模与仿真分析相结合的方法，利用鲸鱼算法（WOA）对分数阶FOPID控制器进行参数整定并应用于机械臂的运动控制。基于旋量理论利用D-H法建立机械臂关节坐标系及坐标变换矩阵表达式，采用蒙特卡洛算法求解机械臂工作空间点云图；基于独立关节控制理论利用Matlab-Simulink软件，并结合分数阶FOPID控制技术，搭建机械臂关节处液压马达/油缸单输入-单输出系统模型。基于遗传算法（GA）、粒子群算法（PSO）、鲸鱼算法（WOA），搜索算法（GPS）4种智能优化算法，从标准方差、超调量、稳定时间3个动态指标进行对比，分析液压马达/油缸的不同控制组合策略下阶跃影响的效果。通过仿真分析验证了鲸鱼算法（WOA）对整定FOPID参数的有效性。研究工作为无人钻锚机械臂精准定位和自动支护奠定了理论基础，同时也为相关运动控制策略设计提供了参考。

The drilling and anchoring robot is an important equipment to realize the intellectualization of fully-mechanized coal mining. The control effect of its manipulator directly affects the safety and efficiency of the support operation of the drilling and anchoring robot.The control of drilling anchor manipulator usually adopts PID controller,but under the working conditions of bad environment and complex coal seam,the parameter selection of PID controller has a great impact on the control effect. Due to the limitation of integer order PID control algorithm and traditional empirical parameter adjustment,it is difficult to find a group of parameters with the best control effect in a short time,resulting in the failure of timely and accurate positioning of the end of the manipulator. Based on robot technology,fractional order control technology and intelligent optimization algorithm,this paper uses the method of combining numerical modeling and simulation analysis,uses whale algorithm(WOA) to adjust the parameters of fractional order  FOPID controller and applies it to the motion control of ma[LM]nipulator. Based on the spinor theory,the joint coordinate system and coordinate transformation matrix expression of the manipulator are established by D-H method,and the point cloud diagram of the manipulator workspace is solved by Monte Carlo algorithm;Based on the in dependent joint control theory,the single input single output system model of hydraulic motor / cylinder at the joint of manipulator is established by using MATLAB Simulink software and fractional FOPID control technology. Based on four intelligent optimization algorithms：genetic algorithm(GA),particle swarm optimization(PSO),whale algorithm(WOA) and search algorithm(GPS),the effect of step influence under different control combination strategies of hydraulic motor / oil cylinder is analyzed by comparing three dynamic indexes：standard deviation,overshoot and stability time. The effectiveness of whale algorithm(WOA) in tuning FOPID parameters is verified by simulation analysis. The research work lays a theoretical foundation for the accurate positioning and automatic support of the unmanned drilling and anchoring manipulator,and also provides a reference for the design of relevant motion control strategies.