基于工业机器人动力学模型的差分力矩偏差碰撞检测方法
张振宇, 钟佩思, 张超, 王祥文, 刘梅, 孙钰雁
Differential torque deviation collision detection method based on the dynamic model of industrial robot
ZHANG Zhenyu, ZHONG Peisi, ZHANG Chao, WANG Xiangwen, LIU Mei, SUN Yuyan
制造技术与机床
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2023, (3): 163
-172
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DOI: 10.19287/j.mtmt.1005-2402.2023.03.022
