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

图 10 拖动示教实验过程中速度曲线与接触力矩曲线

Fig.10 Speed and contact torque curve during drag teaching experiment