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介绍消除机器人关节摩擦特性对其位置伺服系统影响的两种方法，即摩擦力可实测情况下的前馈补偿器及摩擦力未知情况下的鲁棒补偿控制器
Two methods to eliminate the influence of the friction characteristics of the robot joint on the position servo system are introduced, that is, the feedforward compensator with frictional force measurable and the robust compensation controller with unknown frictional force