Integrated dynamics and control of space multi-joint robotic arm

This paper presents research on the integrated dynamics and control methods of a multi-joint robotic arm system installed on a spatial inertial platform. An integrated recursive dynamic model of the posture of the multi-joint robotic arm is established by using the method of dual quaternions. This model can succinctly describe the position and attitude relationships among the joints of the robotic arm. Based on this model, a sliding mode variable structure controller is designed, which can achieve convergence of position and attitude errors even in the presence of external disturbances. The designed controller is validated through simulations, the results of which demonstrate satisfactory control performance, offering reference value for practical engineering applications.