基于集成概率模型的变阻抗机器人打磨力控制

郭万金,赵伍端,利乾辉,赵立军,曹雏清

Ensemble probabilistic model based variable impedance for robotic grinding force control

Wan-jin GUO,Wu-duan ZHAO,Qian-hui LI,Li-jun ZHAO,Chu-qing CAO

图 6 叶片工件、规划路径点和曲面法向量

Fig.6 Blade workpiece, planned path points and surface normal vectors