柔性铰柔性杆机器人动力学建模、仿真和控制$^{\bf 1)}$
方五益,郭晛,黎亮,章定国(
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DYNAMICS MODELING, SIMULATION, AND CONTROL OF ROBOTS WITH FLEXIBLE JOINTS AND FLEXIBLE LINKS$^{\bf 1)}$
Fang Wuyi,Guo Xian,Li Liang,Zhang Dingguo()
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图8. 铰的驱动转角
Fig. 8. The driving angles of joint
