Coupling Modeling of Humanoid Flexible Joint and Vibration Suppression at Variable Load
Aimed at the joint vibration problem caused by the load change of humanoid flexible joint, a torque compensation control method based on state observer is proposed. By controlling the motor to output a torque increment equivalent to the disturbance torque, the joint torque can quickly balance the lo...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Shanghai Jiao Tong University
2023-05-01
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| Series: | Shanghai Jiaotong Daxue xuebao |
| Subjects: | |
| Online Access: | https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-5-601.shtml |