2-DOF关节型机器人轨迹的PCH与PD协调控制
迟洁茹, 于海生, 杨杰, 牛欢, 张启杲
2-DOF Joint Robot Trajectory Control System Based on Port-Controlled Hamiltonian and PD Algorithm Coordinate Control
CHI Jie-ru, YU Hai-sheng, YANG Jie, NIU Huan, ZHANG Qi-gao
控制工程
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2019, (5): 916
-921
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