An under actuated space manipulator control system is proposed to study the manipulator adaptive grasping control. The manipulator is equipped with vision, slipping, Angle displacement sensor etc.

对融合了视觉、滑觉、角位移等多种传感器的欠驱动空间机械手爪，研究其对不同形状、质地的物体实现自适应抓取控制。

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Three dimensional space is defined for the time, controller and Angle displacement. The method and scheme of optimization for subdivision control code are presented.

定义了时间、控制量及角位移三维空间，介绍了离散控制量的优化方法，并提出了离散量控制细分优化方案。

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Computer generates real time control command to drive motor controls displacement and up-down pendulum Angle of hoist, its precise control is realized through this method.

由计算机产生实时控制指令驱动电机控制吊车位移、上下摆角，实现其精度控制。

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