[1] DE LUCA A,BOOK W J. Robots with flexible elements[M]. Berlin:Springer,2016. [2] LE-TIEN L,ALBU-SCHÄFFER A. Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints[C]//2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway:IEEE,2012:1149-1154. [3] HADDADIN S,DE LUCA A,ALBU-SCHÄFFER A. Robot collisions:A survey on detection,isolation,and identification[J]. IEEE Transactions on Robotics,2017,33(6):1292-1312. [4] 贾计东,张明路. 人机安全交互技术研究进展及发展趋势[J]. 机械工程学报,2020,56(3):16-30. JIA Jidong,ZHANG Minglu. Research progress and development trend of the safety of human-robot interaction technology[J]. Journal of Mechanical Engineering,2020,56(3):16-30. [5] ALBU-SCHÄFFER A,OTT C,HIRZINGER G. A unified passivity based control framework for position,torque and impedance control of flexible joint robots[J]. The International Journal of Robotics Research,2007,26(1):23-39. [6] ZOLLO L,DE LUCA A,SICILIANO B. Regulation with on-line gravity compensation for robots with elastic joints[C]//IEEE International Conference on Robotics and Automation,2004. Proceedings. ICRA'04. 2004. Piscataway:IEEE,2004:2687-2692. [7] PETIT F,ALBU-SCHÄFFER A. State feedback damping control for a multi dof variable stiffness robot arm[C]//2011 IEEE International Conference on Robotics and Automation. Piscataway:IEEE,2011:5561-5567 [8] SUN Y J,LIU Y W,ZOU T,et al. Design and optimization of a novel six-axis force/torque sensor for space robot[J]. Measurement,2015,65:135-148. [9] CHEN D F,SONG A G,LI A. Design and calibration of a six-axis force/torque sensor with large measurement range used for the space manipulator[J]. Procedia Engineering,2015,99:1164-1170. [10] 左盟,陈伟球,杨明,等. Y形横梁六维力/力矩传感器的应变分析[J]. 机械工程学报,2020,56(12):1-8. ZUO Meng,CHEN Weiqiu,YANG Ming,et al. Strain analysis of six-axis force/torque sensors with y-shaped crossbeam[J]. Journal of Mechanical Engineering,2020,56(12):1-8. [11] SPONG M W. Modeling and control of elastic joint robots[J]. ASME Journal of Dynamic Systems,Measurement and Control,1987,109(4):310-318. [12] KEPPLER M,LAKATOS D,OTT C,et al. Elastic structure preserving (ESP) control for compliantly actuated robots[J]. IEEE Transactions on Robotics,2018,34(2):317-335. [13] ISKANDAR M,OTT C,EIBERGER O,et al. Joint-level control of the DLR lightweight robot SARA[C]//2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Piscataway:IEEE,2020:8903-8910. [14] WOLF S,ISKANDAR M. Extending a dynamic friction model with nonlinear viscous and thermal dependency for a motor and harmonic drive gear[C]//2018 IEEE International Conference on Robotics and Automation (ICRA). Piscataway:IEEE,2018:783-790. [15] ISKANDAR M,WOLF S. Dynamic friction model with thermal and load dependency:modeling,compensation,and external force estimation[C]//2019 IEEE International Conference on Robotics and Automation (ICRA). Piscataway:IEEE,2019:7367-7373. [16] 段书用,李昌洛,韩旭,等. 机械臂动力学分析及关节非线性摩擦模型建立[J]. 机械工程学报,2020,56(9):18-28. DUAN Shuyong,LI Changluo,HAN Xu,et al. Forward-inverse dynamics analysis of robot arm trajectories and development of a nonlinear friction model for robot joints[J]. Journal of Mechanical Engineering,2020,56(9):18-28. [17] LE TIEN L,ALBU-SCHAFFER A,DE LUCA A,et al. Friction observer and compensation for control of robots with joint torque measurement[C]//2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway:IEEE,2008:3789-3795. [18] LIU H S,HUANG Y,WU W X. Improved adaptive output feedback controller for flexible-joint robot manipulators[C]//2016 IEEE International Conference on Information and Automation (ICIA). Piscataway:IEEE,2016:1653-1658. [19] 张飞凯,李长红,王坤,等. 基于滑模速度控制器的PMSM控制系统研究[J]. 自动化与仪表,2020,35(9):30-34. ZHANG Feikai,LI Changhong,WANG Kun,et al. Research on PMSM control system based on sliding mode speed controller[J]. Automation and Instrumentation,2020,35(9):30-34. |