罗飞. 内模控制在柔软性机器人中的应用[J]. 机器人, 1996, 18(3): 138-143..
LUO Fei. INTERNAL MODEL CONTROL AND ITS APPLICATION TO FLEXIBLE ROBOTS. ROBOT, 1996, 18(3): 138-143..
Abstract：To counter the uncertainty of flexible robots ,this paper uses the method of internal model control to analyse and design the force control system of a rubber robot drived by atmospheric pressure. The simulation and the experiments are completed, and the results show that the control performance can be improved ,and the high robustness can be implemented.
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