柔性关节伺服系统的传动转矩与加加速度特性分析及控制环设计

In collaborative robot joint servo systems, harmonic reducers are mostly adopted as transmission devices, which helps to achieve light weight and flexibility. However, the introduction of a harmonic reducer or other transmission devices inevitably introduces elasticity into the system, resulting in mechanical oscillations and decreased joint output accuracy, which will reduce the safety and accura...