无先验模型曲面的机器人打磨主动自适应在线轨迹预测方法
Active adaptive online trajectory prediction for robotic grinding on surface without prior model
无先验模型曲面的机器人打磨主动自适应在线轨迹预测方法 |
| 郭万金,赵伍端,于苏扬,赵立军,曹雏清 |
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Active adaptive online trajectory prediction for robotic grinding on surface without prior model |
| Wan-jin GUO,Wu-duan ZHAO,Su-yang YU,Li-jun ZHAO,Chu-qing CAO |
| 图 6 基于力偏差的法向打磨力控制框图（叠加重力补偿） |
| Fig.6 Block diagram of normal grinding force control based on force error (with gravity compensation) |
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