...词 ： 双臂空间机器人；增广变量法；协调运动；自适应控制；鲁棒控制 [gap=1070]Keywords : dual-arm space robot system;augmentation approach;coordinated motion;adaptive control;robust control ..
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Free-floating dual-arm space robot system 漂浮基双臂空间机器人
The dynamic control problem for coordinated motion of a free-floating dual-arm space robot system was discussed.
讨论了本体姿态受控、位置不受控的情况下，漂浮基双臂空间机器人系统协调运动的动力学控制问题。
In the fifth and sixth chapter, trajectory tracking control in inertia space of the dual-arm space robot system is studied.
在第五章和第六章中，对双臂空间机器人系统在惯性坐标系内进行轨迹跟踪控制问题进行研究。
According to the momentum conservation law, the dynamic equations of dual-arm space robot system were established through Lagrange equation of the second kind.
依据系统动量守恒关系和拉格朗日第二类方程，推导了漂浮基双臂空间机器人系统的动力学方程。
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