Position/force hybrid control method for space manipulator
A space manipulator, hybrid control technology, applied in manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of oscillation stability in the transition process, difficulty in application, and no compensation of dynamic characteristics
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[0044] The implementation process of the whole invention is shown in figure 1 . The specific implementation is described in detail as follows:
[0045] (1) Establish the dynamic model of the manipulator
[0046] Consider an n-degree-of-freedom redundant space manipulator whose multi-rigid body dynamics equation is described as
[0047] M ( q ) q · · + C ( q , q · ) q · = τ - - - ( 1 )
[0048] where M(q)∈R n×n is the inertia matrix of the joint space, is the coupling effect of centrifugal force and Coriolis force, τ∈R n is the joint driving torque, the degree of freedom n>6, and the redundant ...
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