Manipulation dynamics analysis and compensation study of lunar robot

Based on the modeling and analysis of manipulation dynamics of lunar robot, the article demonstrates the supposition that the platform of lunar robot will slip due to the microgravity and loose soils when the manipulator of lunar robot manipulates on the complicated lunar surface, such as drilling, sampling. The paper put forward a method that takes the velocity as the judgment standard for compensation. Then based on simulation results, we validate that the position compensation for lunar robot is necessary. As a result of the complex and capricious lunar environment, the effect of different parameters of lunar environment on simulation result has been validated. Accordingly, the necessity of compensation is further confirmed.