On the use of positive feedback for improved torque control-中国期刊网

摘要这份报纸为机器人考虑转矩控制问题，灵活关节由电的致动器开车。用PI转矩控制器的可完成的靠近环的追踪带宽可能由于零由负担动力学介绍了的传播是有限的，这被显示出。这限制被与PI转矩控制器在一致从负担运动使用积极反馈克服。积极反馈以负担速度，加速和猛拉被给。稳定性调节因为设计分散的PI转矩控制器以Routh-Hurwitz标准被导出。封闭系统的骚乱拒绝性质被描绘，分析被执行由省略加速或猛拉信号调查近似积极反馈的使用。这份报纸的结果为二DoF(自由的度)被说明系统。一个DoF系统的试验性的结果也被包括。

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On the use of positive feedback for improved torque control

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On the use of positive feedback for improved torque control

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