黄心汉, 王敏, 胡建元, 袁军. 主动RCC控制方法研究[J]. 机器人, 1996, 18(5): 373-278..
HUANG Xinhan, WANG Min, HU Jianyuan, YUAN Jun . AN ACTIVE RCC CONTROL SCHEME RESEARCH. ROBOT, 1996, 18(5): 373-278..
Abstract：This paper presents the principle and control structure of an Active RCC (ARCC) control scheme gives the computational method of the system′s close loop stiffness and decoupling force feedback matrix, as well as the compliance center setting strategy. These research results are the basis for robot assembly tasks.
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