# A Cooperative Control Method for Excavation Support Robot with Desired Position/Posture
## 7 Conclusions  
(1) The desired expected position/posture coordinated adjustment control method of ESR is effective, and the proposed ESR control system is adapted to the performance requirements of field applications.  
(2) The minimum error of the declination angle in the simulation calculation results is less than 0.2\({}^{\circ}\), and the error is limited to within \(\pm\)0.5\({}^{\circ}\). The minimum error of the roll angle in the results does not exceed 0.1\({}^{\circ}\), and the error is controlled within \(\pm\)0.5\({}^{\circ}\). The minimum error of the simulated sidewall distance is not more than 0.01 m, and the error range is within \(\pm\)0.03 m of the desired expected value.  
(3) The minimum error of the declination angle in the experimental test results of the field verification link is controlled within 0.2\({}^{\circ}\), and the error does not exceed \(\pm\)0.5\({}^{\circ}\). The minimum error of the scroll angle in the test results is less than 0.2\({}^{\circ}\), and the error is limited to within \(\pm\)0.5\({}^{\circ}\). The minimum error of the margin in the test results is not more than 0.01 m, and its error range is within the desired expected value of \(\pm\)0.03 m.  
(4) The main reason for ESR position deviation/support posture inclination is the combined influence of the unaccounted instantaneous fluctuation of the excavation floor and the ESR transient push-pull effect in the space environment. The position stroke of each lateral adjustment hydraulic cylinder is adjusted to coordinate the deviation state of the ESR support posture, which verifies the effectiveness and feasibility of the proposed adjustment strategy and cooperative control process.  
Methodology, X.W. and J.T.; formal analysis, Y.W., C.L. and X.W.; investigation and Resources, J.T. and Y.W.; writing--original draft preparation, X.W., J.T. and C.L.; writing--review and editing and supervision: J.T. and C.L. All authors have read and agreed to the published version of the manuscript.  
**Funding:** This research received no external funding.  
**Institutional Review Board Statement:** Not applicable.  
**Informed Consent Statement:** Not applicable.  
**Data Availability Statement:** This study did not report any data and we have chosen to exclude this claim.  
**Acknowledgments:** The authors would like to thank the Northeast Forestry University (NEFU), Heilongjiang Institute of Technology (HIJIT), Huaqiao University, and the Harbin Institute of Technology (HIT) for their support. The research topic was supported by The Innovation Foundation for Doctoral Program of Forestry Engineering of Northeast Forestry University (Grant No. 000/4111410203, [PERSON], NEFU), the Doctoral Research Startup Foundation Project of Heilongjiang Institute of Technology (Grant No. 2020 BJ06, [PERSON], HIJIT), the Natural Science Foundation Project of Heilongjiang Province (Grant No. LH2019E114, [PERSON], HLJIT), the Basic Scientific Research Business Expenses (Innovation Team Category) Project of Heilongjiang Institute of Engineering (Grant No. 2020 CX02, [PERSON], HLJIT), the Special Project for Double First-Class-Cultivation of Innovative Talents (Grant No. 000/41113102, [PERSON], NEFU), the Special Scientific Research Funds for Forest Non-profit Industry (Grant No.201504508), the Youth Science Fund of Heilongjiang Institute of Technology (Grant No. 2015 QJ02), and the Fundamental Research Funds for the Central Universities (Grant No. 2572016 CB15).  
**Conflicts of Interest:** The authors declare no conflict of interest.