Mechanical arm control transformation method considering variable-stiffness joint delay characteristics

The invention relates to a mechanical arm control transformation method considering variable-stiffness joint delay characteristics. The mechanical arm control transformation method is realized by thefollowing steps of: (1) establishing an n-degree-of-freedom mechanical arm kinetic model by considering the delay characteristics of a mechanical arm for mounting a variable-stiffness joint; (2) shortening the time delay in the kinetic model to establish a new kinetic model originally, wherein m is greater than 1; (3) designing a small delay control law for stabilizing a closed loop of the new kinetic model; and (4) on the basis of the small delay control law, carrying out scaling transformation by considering a scaling relationship of the two kinetic models in the steps (1) and (2), designinga control law enabling the closed loop in the step (1) to be stable, and realizing control over the mechanical arm through the control law. 本发明涉及一种考虑变刚度关节延迟特性的机械臂控制变换方法，通过下述方式实现：(1)考虑机械臂安装变刚度关节的时延特性，建立n自由度机械臂动力学模型；(2)将所述动力学模型