基于自抗干扰的装配机器人阻抗控制技术

张世玉,陈东生,宋颖慧

Impedance control technology of assembly robot based on active disturbance rejection

Shi-yu ZHANG,Dong-sheng CHEN,Ying-hui SONG

图 1 轴孔两点接触状态

Fig.1 Two point contact state of peg in hole