Adaptive Control of Space Robot Despinning Tumbling Target Using Flexible Brushes

Table 1

Kinetic parameters.

Parameter name	Matrix	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6	Joint 7
Length a (m)	˗	0	0	1	1	0	0	0
Angle α (°)	˗	90	90	0	0	90	90	0
Joint distance d (m)	˗	0	0.1	0	0	0.3	0.1	0
Joint angle θ (°)	˗	θ1	θ2	θ3	θ4	θ5	θ6	θ7
Mass m (kg)	2811	2.8	2.8	25.39	25.39	2.8	2.8	10.6
(kg·m^2)	473	0.005	0.005	2.76	2.76	0.005	0.005	1.33
(kg·m^2)	473	0.005	0.005	2.76	2.76	0.005	0.005	1
(kg·m^2)	467	0.005	0.005	0.03	0.03	0.005	0.005	1.5