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由于空间特有的微重力环境和卫星本体重心不固定，机械手和卫星本体之间存在运动学和动力学耦合作用，已有针对地面机器人提出的计算关节力矩的 Ｎｅｗ ｔｏｎ Ｅｕｌｅｒ 法和地面机器人的控制策略不能直接应用于自由飞行空间机器人（ Ｆ Ｆ Ｓ Ｒ）的研究报告．文中首先分析了 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机械手各链杆的速度和加速度的递推公式；其次基于已有的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文中提出的关节力矩算法的有效性
Due to the space-specific micro-gravity environment and the fact that the center of gravity of the satellite body is not fixed, kinematic and kinematic coupling exists between the robot arm and the satellite body. There have been proposed the Newton-Euler method for calculating the joint moment proposed by the ground robot and the control of the ground robot Strategies can not be applied directly to the study of FFSR. Firstly, the relationship between the velocity and acceleration of F F S R is analyzed. Based on the above, a recursion formula for calculating the velocity and acceleration of F F S R manipulators is established. Secondly, based on the existing Newton Euler dynamics algorithm, a recursive algorithm of joint driving torque suitable for F F S R was developed. Finally, the validity of the proposed joint torque algorithm was verified by computer simulation