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12 负载力矩变化时的转矩补偿控制方法实验结果

Fig.12 Experimental results of torque compensation control method at variation in load torque