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 6 轴孔试验件

Fig.6 peg-in-hole test pieces