对于所需的可变阻抗模型的放松状态独立稳定性约束

Zhaobao Yu1, Jianheng Mao1, Liaoxue Liu1

  • 1School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China.

ISA transactions
|March 7, 2026
PubMed
概括

可变阻抗控制 (VIC) 增强了机器人任务,但时间变化的参数可能会导致不稳定. 本研究为所需的可变阻抗模型 (DVIM) 引入了新的,不那么保守的稳定性约束,以确保在各种条件下系统的稳定性.

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