Directional Dynamic Manipulability of Space Manipulator with Joint Effectiveness Partial Loss Failure Based on Dynamic Condition Number Constraint

Aiming at characterizing dynamic manipulability of space manipulator with joint effectiveness partial loss failure, a new dynamic manipulability index was proposed, which can take into account both dynamic condition number and directional dynamic manipulability. Firstly, the mathematical model of the space manipulator with joint effectiveness partial loss failure was established, and the coupling matrix between the joint torque and the end effector acceleration was obtained. Then the concept of dynamic condition number was put forward, and a new index to characterize the dynamic manipulability was constructed. Through the simulation experiment, it was verified that the index has a good constraint effect on the dynamic condition number and a good optimization effect on the directional dynamic manipulability.