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

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)