基于卷积力矩观测器与摩擦补偿的机器人碰撞检测
李智靖(
),叶锦华,吴海彬*()
),叶锦华,吴海彬*()
Robot collision detection with convolution torque observer and friction compensation
Zhi-jing LI(),Jing-hua YE,Hai-bin WU*()
),Jing-hua YE,Hai-bin WU*()
图 1. 机器人关节力矩传递示意图
Fig.1. Schematic diagram of robot joint torque transfer
