摘要
介绍消除机器人关节摩擦特性对其位置伺服系统影响的两种方法。
In this paper, two methods of eliminating the effect which the robot's elbow friction gives to the servo system are introduced. One is fore-feedback compensator in condition of the friction measureable, the other is Robust compensator in condition of the friction unmeasureable.
出处
《昆明理工大学学报（理工版）》
2001年第5期93-95,共3页
Journal of Kunming University of Science and Technology(Natural Science Edition)
