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...
Main Author: | |
---|---|
Format: | Article |
Language: | zho |
Published: |
Editorial Office of Journal of Shanghai Jiao Tong University
2023-05-01
|
Series: | Shanghai Jiaotong Daxue xuebao |
Subjects: | |
Online Access: | https://xuebao.sjtu.edu.cn/article/2023/1006-2467/1006-2467-57-5-601.shtml |