Mingshan-Beal

在冲击力轴增加理想力补偿

What's the meaning if it does not stay still in its initial state?

You might check the topic of the external force. it may be noised. and you also need to check the output gain.

Actually, I am not sure what's wrong with your situation. Please mindfully check.

But I can not change the numpy version in colab. Is there any idea about change it. I have reinstall the numpy and other command to upagrade, but the numpy...

使用了机器人末端关节内置的力传感器

可以，负载重力已知道的情况下，通过笛卡尔矩阵将末端重力补偿到每个关节

系统中未有末端负载，故没有加入重力补偿，现实实验过程中，配备夹爪，故需重力补偿 上面回复有误（非笛卡尔矩阵），重力补偿需要将待补偿的力以及当前机械臂的状态，通过逆动力学解算并补偿到各个关节。

动力学模型中的MDK是自己设置的

这个原因比较多，可以检查代码中其他系数。