Abstract:Aiming at the joint flexibility and wear state existing in the process of driving mechanical parts, this paper first proposes a stiffness and position decoupling control method for variable stiffness joints, which realizes the joint position control and the unity of joint compliance. The joint stiffness model was obtained by using the static relationship between the Jacobian matrix and the model, and the nonlinear equations composed of the mechanical model and the stiffness model of the variable stiffness devi… Show more
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