DYNAMIC CONTROL SMCE-ROBOT ARM WITH PASSIVE JOINTS

The dynamic control problems of under-actuated redundant space station robots were studied, which include the kinematics path planing and the stable dynamic control algorithm of non-holomic redundant robot system. In the dynamic algorithm, the kinematics path planing method was utilized. The dynamic control algorithm can guarantee the end-effector trajectory tracking error to converges asymptotically to zero. Three joints plan robot was used to simulate the algorithm, and the conclusions were verified by the simulation results.