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*(
)
Robot collision detection with convolution torque observer and friction compensation
Zhi-jing LI(
),Jing-hua YE,Hai-bin WU*(
)
图 7.
有外力作用时关节2的观测结果
Fig.7.
Observation results of joint 2 with external forces