基于混合遗传算法的机器人改进摩擦模型辨识

张铁,胡亮亮,邹焱飚

Identification of improved friction model for robot based on hybrid genetic algorithm

Tie ZHANG,Liang-liang HU,Yan-biao ZOU

图 11 各关节的力矩拟合图

Fig.11 Torque fitting curve of each joint