空间双臂机器人抓捕翻滚目标后的鲁棒稳定控制1)
夏鹏程, 罗建军, 王明明

A ROBUST STABILIZATION CONTROL FOR DUAL-ARM SPACE ROBOT CAPTURING TUMBLING TARGET1)
Xia Pengcheng, Luo Jianjun, Wang Mingming
图12 利用所提鲁棒控制方法稳定翻滚目标时机械臂末端的接触情况
Fig.12 Contact wrenches of the manipulators under the control of the proposed robust scheme