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6 扰动转矩观测值及观测误差 |
Fig.6 Observed value and observation error of disturbance torque |