Three degrees of freedom large damping underactuated truss climbing robot and its control method

Three degrees of freedom large damper underactuated climbing truss robot and its control method, which relates to a robot and its control method. The present invention is driven under the conventional robot climbing truss poor stability grab bar and a control method for the conventional robot can not underactuated climbing truss reliable gripping target problem to solve the lever when gripped turn back stage. The other end of the holder through the elastic coupling means drivingly connected with the gear, the gear shaft sleeve fixed lowermost gearing with friction wheels; excitation phase control: the method of parametric excitation under drive roll from climbing truss manipulators and shake from the four stages of a cycle; gripping phase control is: then calculate the joint angle of each joint rapid rotation of the main drive for an inverse kinematics compensated by the angular velocity of the main drive joints PD control, in order to achieve reliable control of the robot gripping position servo target rod. The present invention is a climbing truss robotics.