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4 PI-IP控制器的等效结构

Fig.4 Equivalent structure of PI-IP controller