This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque,measured torque and end-force ...
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This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque,measured torque and end-force of the *** to the damping control strategy, the end force and speed mapping function planning is *** joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion.
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