【摘要】 基于动量守恒定律和拉格朗日方程，建立了卫星姿态不受控时自由飞行空间机器人（ＦＦＳＲ）的动力学模型，提出了位置调节与轨迹跟踪的动力学控制方法并用计算机仿真验证了所提出的控制方法的有效性。更多还原

【Abstract】 First, based on the momentum conservation law and Lagrangin dynamics, a dynamic modeling for a Free Flying Space Robot (FFSR) without satellite state control is established Then, the dynamic control methods for position regulation and trajectory tracking problems are proposed. Finally, the computer simulation verifies the effectiveness of the proposed dynamic control method.更多还原