基于柔性机构捕捉卫星的空间机器人动态缓冲从顺控制$^{\bf 1)}$
艾海平,陈力()
BUFFER AND COMPLIANT DYNAMIC SURFACE CONTROL OF SPACE ROBOT CAPTURING SATELLITE BASED ON COMPLIANT MECHANISM$^{\bf 1)}$
Ai Haiping,Chen Li()

图4. 未采用开、关机策略关节所受冲击力矩

Fig. 4. Joint impact torque without switching strategy