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 9 拖动示教实验示意图

Fig.9 Schematic of drag teaching experiment