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 6 2段4次多项式对实验数据的拟合效果

Fig.6 Fitting results of two-segment quartic polynomial