Abstract: A torque sensorless adaptive control arithmetic is proposed based on the torque control principle of torque sensorless in this paper. By establishing an expected model of the system reference , the method enables the sensitivity coefficient to be independent of the joint acceleration , thus ensuring the control quality of the system. The simulation results in different system with same parameters show that the control method is reasonable.Key words : robot ; disturbance torque ; acceleration controller ; sensitivity ; adaptive control
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