配置柔顺机构空间机器人双臂捕获卫星操作力学模拟及基于神经网络的全阶滑模避撞柔顺控制 1)
朱安,陈力(
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MECHANICAL SIMULATION AND FULL ORDER SLIDING MODE COLLISION AVOIDANCE COMPLIANT CONTROL BASED ON NEURAL NETWORK OF DUAL-ARM SPACE ROBOT WITH COMPLIANT MECHANISM CAPTURING SATELLITE 1)
Zhu An,Chen Li()
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图3. 不开启避撞柔顺控制关节力矩
Fig. 3. Joint impact torque on closing avoidance collision and compliant control
