连杆侧无传感器下机器人柔性关节系统的零力控制

徐建明,赵智鹏,董建伟

Free-force control of flexible robot joint system without sensors on link side

Jian-ming XU,Zhi-peng ZHAO,Jian-wei DONG

表 2 2段4次多项式系数表

Tab.2 Coefficients of two-segment quartic polynomial

多项式系数 数值 多项式系数 数值 ${\rm{\varepsilon }}_{0}^{ + }$ −4.577 1 ${\rm{\varepsilon }}_{0}^{ - }$ 2.664 8 ${\rm{\varepsilon }}_{1}^{ + }$ 1.019 1 ${\rm{\varepsilon }}_{1}^{ - }$ −5.268 1 ${\rm{\varepsilon }}_{2}^{ + }$ −47.385 1 ${\rm{\varepsilon }}_{2}^{ - }$ 21.634 6 ${\rm{\varepsilon }}_{3}^{ + }$ 117.303 9 ${\rm{\varepsilon }}_{3}^{ - }$ 113.517 2 ${\rm{\varepsilon }}_{4}^{ + }$ 143.58 ${\rm{\varepsilon }}_{4}^{ - }$ −76.850 7