机械臂臂杆刚度主动控制下的末端振动特性研究$^{\bf 1)}$
张玉玲*,谷勇霞†,赵杰亮*,阎绍泽*2)(
)
)
RESEARCH ON VIBRATION CHARACTERISTICS OF THE MANIPULATOR END UNDER ACTIVE CONTROL OF ARM STIFFNESS$^{\bf 1)}$
Zhang Yuling*,Gu Yongxia†,Zhao Jieliang*,Yan Shaoze*2)()
)
图2. 机械臂臂杆刚度主动控制的简化模型
Fig.2. The simplified model for active control of manipulator arm stiffness
