Aiming at a space manipulator with a joint-locked failure, a halt optimization strategy is proposed in this paper. Firstly, a halt configuration optimization model (HCOM) is constructed, to select an optimal configuration where the kinematic ability of the manipulator is the best. Secondly, considering the constraint of joint running parameters and the disturbance torque of the base, we construct and solve the halt motion optimization model (HMOM), which can achieve a steady halt and ensure the safety of the manipulator. The correctness and effectiveness of the proposed strategy in this paper are verified with a 7-DOF space manipulator. This strategy firstly puts forward the idea of halt configuration optimization and realizes the minimum global disturbance torque of the base in the halt process.

中文翻译：

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具有联锁故障的空间机械臂的停止优化策略

针对具有联锁失效的空间操纵器，提出了一种停车优化策略。首先，构建停机配置优化模型（HCOM），以选择机械手的运动能力最佳的最佳配置。其次，考虑关节运行参数的约束和机座的扰动力矩，构造并求解了停顿运动优化模型（HMOM），可以实现稳定的停顿，保证了机械手的安全性。本文提出的策略的正确性和有效性通过7自由度空间操纵器进行了验证。该策略首先提出了停机结构优化思想，实现了停机过程中基座的最小全局扰动力矩。