从提高位置精度出发，采用了基于圆光栅全闭环反馈的回转关节控制方案。
Aimming at high positioning accuracy demands of revolute joint, the closed-loop feedback using circular grating was adopted.
该方法设定外部干扰矩阵，基于全状态的分散，将系统干扰项考虑到反馈增益矩阵f中，用迭代方法求F阵以使闭环系统最优。
The method sets system disturbance within the feedback gain matrix f, which can be computed by iteration, in order to make the closed loop system optimum.
检测电路分为全桥平衡模块、电荷放大器模块、信号放大模块、相关双采样模块、采样保持模块、闭环反馈模块、低通滤波模块和数字时序控制模块。
The circuit is divided into full bridge module, charge sense amplifier module, correlated double sampling and holding module, closed-loop feedback module, low-pass filter and time controlling module.
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