The end effector is a typical nonlinear system. In the space with microgravity and drastic changes in ambient temperature, the parameters of the mechanical mechanism change with the load state and environmental changes, making it difficult to obtain an accurate dynamic model. Therefore, the main content of this paper is how to achieve stable and reliable control of the end effector in the space environment to complete the capture, tensioning and locking tasks. A high-reliability independent control system is designed, and the reliability of the system is improved from the perspective of software and hardware; on the basis of the high-reliability independent control system, a reasonable fault-tolerant control strategy is adopted to improve the reliability of the end effector and extend its service life.
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