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本文提出了一种机器人关节在线重力补偿的PID算法，并在机器人结构因素试验台关节上得到实施，这种算法理论推导严格，并具有一定的实用性。
This paper presents a PID algorithm for on-line gravity compensation of robot joint, which is implemented on the joint of robot structural factor test-bed. The theory of this algorithm is rigorously deduced and has certain practicality.