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 6 不同气压下输出力与转角迟滞关系

Fig.6 Driving force and rotation angle hysteresis under variable inflation pressure