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5 关节驱动系统控制框图

Fig.5 Control block diagram of joint drive system