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基于最优激励位姿序列的机械臂负载估计 期刊论文
机器人, 2020, 卷号: 42, 期号: 4, 页码: 503-512
Authors:  侯澈;  赵忆文;  张弼;  李英立;  赵新刚
Adobe PDF(542Kb)  |  Favorite  |  View/Download：64/6  |  Submit date：2020/05/30
负载估计  静力学模型  粒子群滤波  工业机器人  
Flexible-joint Impedance Control Based on Backstepping Method 会议论文
Proceedings - 2019 Chinese Automation Congress, CAC 2019, Hangzhou, China, November 22-24, 2019
Authors:  Hou C(侯澈);  Zhao YW(赵忆文);  Zhang B(张弼);  Zhao XG(赵新刚);  Li YL(李英立)
Adobe PDF(559Kb)  |  Favorite  |  View/Download：44/14  |  Submit date：2020/03/22
Compliance control  Impedance control  backstepping  Flexible joint  
Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery 期刊论文
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2018, 卷号: 15, 期号: 4, 页码: 1-27
Authors:  Song GL(宋国立);  Hou C(侯澈);  Zhao YW(赵忆文);  Zhao XG(赵新刚);  Han JD(韩建达)
Adobe PDF(1306Kb)  |  Favorite  |  View/Download：183/27  |  Submit date：2018/09/04
Hollow modular joint  redundant robot  mechanical design  control  
Gravity Compensation of KUKA LBR IIWA through Fast Robot Interface 会议论文
Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, Tianjin, China, July 19-23, 2018
Authors:  Hou C(侯澈);  Zhao YW(赵忆文);  Wang JC(王君臣)
Adobe PDF(1800Kb)  |  Favorite  |  View/Download：145/47  |  Submit date：2018/12/27
面向直接示教的机器人负载自适应零力控制 期刊论文
机器人, 2017, 卷号: 39, 期号: 4, 页码: 439-448
Authors:  侯澈;  王争;  赵忆文;  宋国立
Adobe PDF(1062Kb)  |  Favorite  |  View/Download：363/108  |  Submit date：2017/09/18
零力控制  自适应控制  模型辨识  直接示教  变负载