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请问怎么处理机械臂末端向物体表面接触瞬间的冲击力？ #25

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xibeisiber opened this issue Mar 16, 2023 · 2 comments

xibeisiber commented Mar 16, 2023

您好！

机械臂末端向物体表面接触瞬间，会有很大的冲击力，导纳控制会导致机械臂往复运动几个回合。请问怎么处理这个冲击力？代码中有体现吗？

谢谢！

Owner

MingshanHe commented Mar 17, 2023

在冲击力轴增加理想力补偿

Author

xibeisiber commented Mar 17, 2023

谢谢！具体怎么补偿您这边有现有的方案吗？我不太确定怎么补偿能使快速收敛。
我现在是用导纳控制来做的，试着在冲击时增大阻尼，效果不太理想

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