Abstract
In the work of space manipulators, due to the large load and high flexibility of its joints, the overshoot and stabilization time of the manipulator joint control system are seriously affected. Aiming at the problems of poor stability and overshoot of the space manipulator joint joint control system, this article first establishes the joint dynamics model, and analyzes the control effects of joint motor position closed-loop control and absolute position closed-loop control of space manipulator. Then, the effects of joint stiffness, moment of inertia and friction coefficient on the stability of the control system are studied. Finally, the control method of space manipulator is improved by using full state-feedback method. The results show that the joint stiffness, moment of inertia and friction coefficient of space manipulator will affect the stability of joint control system; The absolute position closed-loop control system with full-state feedback can effectively improve the control effect of space manipulator joints.
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