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在分析了载体不加位置控制的空间机器人系统的特点后，根据动量守衡定律，给出了该系统速度分析的广义Ｊａｃｏｂｉａｎ矩阵的一种简洁算法，此算法不需要知道载体的位置，较好地解决了此类空间机器人系统的运动学问题。
After analyzing the characteristics of the space robot system without position control, a simple algorithm of the generalized Jacobian matrix for velocity analysis of the system is given according to the law of momentum conservation. The algorithm does not need to know the position of the carrier and is better To solve the kinematics of such a space robot system.