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本文讨论载体位置与姿态均无控的空间机械臂的控制问题．基于增广静态反馈控制模型，提出当载荷参数存在不确定性时空间机械臂追踪惯性空间期望轨迹的变结构鲁棒控制方法．通过仿真运算，证实了方法的有效性．
This article discusses the control problems of space manipulators with uncontrolled position and attitude. Based on the augmented static feedback control model, a variable structure robust control method is proposed to track the desired trajectory of inertial space manipulator with space manipulator when the load parameters are uncertain. Through simulation, the validity of the method is verified.