【摘要】 本文首先分析了自由飞行空间机器人（ Ｆ Ｆ Ｓ Ｒ）的速度和加速度关系，在此基础上建立了计算 Ｆ Ｆ Ｓ Ｒ 机械手各连杆的速度和加速度的递推公式；其次基于 Ｌｕｈ 等人针对地面机器人提出的 Ｎｅｗ ｔｏｎ Ｅｕｌｅｒ 动力学算法，开发了适用于 Ｆ Ｆ Ｓ Ｒ 的关节驱动力矩的递推算法；最后，用计算机仿真验证了本文提出的关节力矩算法的有效性．更多还原

【Abstract】 First, the velocity and acceleration for Free Flying Space Robots(FFSR) has been analyzed, and the recursive formula for calculating the velocity and acceleration of the links of FFSR have been established. Then, based on the Newton Euler dynamics method for ground fixed robots proposed by Luh et al, the recursive algorithm of joint driven torque for FFSR has been developed. Finally, the computer simulation verifies the effectiveness of the proposed joint torque algorithm.更多还原