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 3 逆映射 ${{\psi }^{{ - 1}}}:{{T}_{\rm{l}}} \to {\delta }$ |
| Tab.3 Inverse mapping ${{\psi }^{{ - 1}}}{:}{{T}_{\rm{l}}} \to {\delta }$ |
|
| ${T_{\rm{l}}},{\dot T_{\rm{l}}}$ | $\delta $ | | ${T_{\rm{l}}} = - 30.73,{\dot T_{\rm{l}}} \geqslant 0$ | −0.630 0 | | ${T_{\rm{l}}} = - 30.72,{\dot T_{\rm{l}}} \geqslant 0$ | −0.629 7 | | $ \vdots $ | $ \vdots $ | | ${T_{\rm{l}}} = 29.21,{\dot T_{\rm{l}}} \geqslant 0$ | 0.630 0 | | ${T_{\rm{l}}} = 29.20,{\dot T_{\rm{l}}} < 0$ | 0.629 9 | | $ \vdots $ | $ \vdots $ | | ${T_{\rm{l}}} = - 30.92,{\dot T_{\rm{l}}} < 0$ | −0.630 0 |
|
|
|