论文部分内容阅读
In order to meet the complex motion of space manipulator in the docking assembly process,using cameras as a feedback input to the vector in the direction of visual movement.Space borne embedded controller by measuring the joint position feedback to restore manipulator absolute position,and establish a mechanical arm vector coordinates.Space manipulator statics,the compensation formula for camera direction,while using the minimum variance principle more torque vector movement problem is transformed into a general vector,input vector,the vector of manipulator,the camera vector input to optimize vector equation each joint is definitely the step value by the optimizer.Therefore,the program can actually be used for space manipulator motion processing operations,and greatly improved the applicability and reliability of the space manipulator.