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 7 摩擦力矩实验数据测量点及拟合得到的Stribeck曲线

Fig.7 Experimentally measured data of friction torque and Stribeck curve obtained by fitting