文中以阻抗跟踪法改善交叉解耦控制的鲁棒性。

This paper improves the decoupling control scheme with the impedance tracking.

youdao

在基于位置内环和阻抗内环的力外环控制方式下，进行了机器人接触刚度变化较大环境(海绵、泡沫和铁块)的力跟踪实验。

Force tracking experiments of contacting various stiffness environments of sponge, foam, and iron surfaces have been performed under both position inner loop control and impedance inner loop control.

youdao

频率跟踪方法能够随谐振网络阻抗及负载力的变化而迅速跟踪谐振频率，且跟踪过程平稳可靠。

The frequency tracking method could rapidly track resonant frequency with the changes of network impedance and load force, and the tracking process was smooth and reliable.

youdao