导纳_阻抗控制 导纳/阻抗控制 定义 ==重点：人与机器人之间的交互关系== 从实际问题出发，问题背景：对外骨骼膝关节这样的一个关节进行柔顺算法控制，力图使得人能以很小的力带动外骨骼小腿摆动 (大腿看作固定坐标系)，即希望人使用小的交互力去控制外骨骼膝关节运动。 牛顿第二定律启发的控制 首先从牛二律开始，对于理想的一个小腿杆，可以看成下面这个图： 其中满足：
2022年8月9日
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