To decrease the damage of grasping soft objects, an online joint torque predictive grasping control scheme is proposed based on external torque control loops.
为减少机械手抓取软物体造成的损害，提出基于关节力矩预测的力矩外环在线抓取控制方案。
2
An optimized scheme was put forth for process conditions of operating the external circulation system.
对外循环系统的运行工艺条件提出优化方案。
3
A scheme of robot force controller based on external ring is adopted in this paper.