基于二阶前馈外力观测器的机械臂碰撞策略

张建华,蔡灿,刘璇,张明路

Manipulator collision strategy based on second-order feedforward external force observer

计算机集成制造系统 . 2019, (第7): 1775 -1783 . DOI: 10.13196/j.cims.2019.07.018