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 8 角位移对阶跃力矩信号的响应及其拟合曲线

Fig.8 Angular displacement response for step torque signal and its fitting curve