1 results about "Mass parameter" patented technology

A kind of hanging force design method for space manipulator ground test gravity compensation, comprising the following steps: obtaining kinematics parameters and dynamics parameters of manipulator;Obtain the installation parameters and mass parameters of the hanging tooling of gravity compensation system;Derive the mathematical model of the torque of each rotary joint of manipulator under the action of gravity environment and gravity compensation system in any arm type;Select several typical task configurations of manipulator;According to the mathematical model of joint torque of manipulator and the typical task configuration of manipulator, design the objective function, and determine the optimal hanging force of gravity compensation system by using mathematical optimization method.