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 7 装配过程中3种算法在各方向的力误差

Fig.7 Force error of three algorithms in all directions during assembly