韩建达, 成海, 谈大龙. 一种基于运动状态反馈的机器人接触力控制[J]. 机器人, 1997, 19(6): 412-419..
HAN Jianda, CHENG Hai, TAN Dalong. ROBOT TRANSITION CONTROL BASED ON STATES FEEDBACK. ROBOT, 1997, 19(6): 412-419..
Abstract：This paper proposes to utilize joint acceleration feedback control for robot to damped oscillations during the transition from free motion phase to constrained phase when the approaching speed is non-zero and the environment is stiff. Both system structure and control algorithms are analyzed. Experimental results are presented and compared with those without joint acceleration feedback demonstrate the improvement of the proposed scheme.
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