The relation between torque, speed, Jacobian and compliance in actuator space and the same parameters in joint space is obtained.
找出在执行机构空间和在关节空间内的扭矩、速度、雅各比及齐次变换矩阵之间的关系。
The concept of the mapping matrix is used for establishing relationship of torque, speed, Jacobian and compliance of coupled manipulators with those of manipulators obtained with conventional methods.
变换矩阵用来建立起铰接机械手与传统方法所获得机械手的扭矩、速度、雅各比矩阵及齐次变换矩阵之间的关系。
Torque sensor is installed on the redundant actuation driving limb to realize real time feedback of torque signal, which realizes the compliance control of PMT primarily.
通过在冗余驱动分支上安装扭矩传感器实现力矩信号实时反馈，初步实现了该机床冗余驱动的柔顺控制。
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