基于动态运动原语和自适应控制的机器人技能学习
张文安, 高伟展, 刘安东

Robot Skill Learning Based on Dynamic Motion Primitives and Adaptive Control
ZHANG Wenan, GAO Weizhan, LIU Andong
图4 改进DMP算法流程图
Fig.4 Flow chart of improved DMP algorithm