基于Bouc-Wen修正模型的柔性关节驱动器迟滞建模

许明,张帝,戎铖,苏礼荣,王万强

Modified Bouc-Wen based hysteresis modeling of flexible joint actuator

Ming XU,Di ZHANG,Cheng RONG,Li-rong SU,Wan-qiang WANG

图 5 驱动器迟滞实验原理

Fig.5 Principle of actuator hysteresis test