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 2. 卷积力矩观测器工作原理图
Fig.2. Working principle diagram of convolution torque observer
