ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

Aiming at the problem of precise position control and compliance control of parallel robot in the process of operation, a compliance control strategy of parallel robot based on external force estimation was proposed. The compliance strategy can realize the high-performance dynamic interaction between position and force of parallel robot in the process of operation. In the implementation of compliance control based on external force estimation, considering the high cost of contact force sensor, a sensorless external force estimation method was proposed. Firstly, the dynamic model of parallel robot and the dynamic model of servo motion system were established, and the changes of robot joint force under external force were estimated by using the established dynamic model and the current feedback value of motor. Secondly, according to the estimated joint force of the parallel robot, the position based impedance control was designed. The position based impedance control can change the rigid contact between the end effector of the parallel robot and the environment into flexible contact, so as to ensure the operation accuracy and compliance of the parallel robot. Finally, the appropriate impedance control parameters were selected to simulate and analyze the proposed compliance control strategy, and the experimental verification was carried out on the built experimental platform. The experimental results showed that the proposed method can realize the accurate, stable and fast compliance operation of the parallel robot.