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7 电机转速观测值及观测误差
Fig.7 Observed value and observation error of motor speed