仿人柔性关节耦合建模及变负载振动抑制

宋传明, 杜钦君, 李存贺, 罗永刚

Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load

SONG Chuanming, DU Qinjun, LI Cunhe, LUO Yonggang

图1 仿人柔性关节机械臂的肘关节物理模型

Fig.1 Physical model of elbow joint of humanoid flexible joint robotic arm