基于混合遗传算法的机器人改进摩擦模型辨识

张铁,胡亮亮,邹焱飚

Identification of improved friction model for robot based on hybrid genetic algorithm

Tie ZHANG,Liang-liang HU,Yan-biao ZOU

图 9 综合2个轨迹下关节1的实际摩擦力矩-速度图

Fig.9 Diagram of actual friction torque and velocity of joint 1 for compositing two trajectories