首先推导了基座姿态受控空间机器人系统运动学关系 ,得到了广义雅可比矩阵。根据目标的运动来规划机械臂末端在惯性空间的期望轨迹。对机器人动力学和运动学关系式进行线性参数化 ,分别对动力学待估参数和运动学待估参数设计在线修正律 ,在关节空间采用自适应控制。对于存在动力学参数不确知的机器人系统 ,算法保证了系统的渐近稳定 ,在完成目标捕获任务的同时 ,控制基座姿态保持在期望范围之内。以平面两关节空间机器人系统为对象进行了仿真 ,结果表明了算法的可行性和有效性。 First, the kinematics relation of robot system with pedestal attitude controlled space is deduced. The generalized Jacobian matrix is ​​obtained. The desired trajectory of the end of the arm in inertial space is planned based on the target’s motion. The robot kinematics and kinematics were linearly parameterized. The online correction law was designed for the kinetic parameters to be estimated and the kinematics parameters to be estimated respectively. Adaptive control was adopted in the joint space. For the robot system with uncertain dynamical parameters, the algorithm guarantees the asymptotic stability of the system, and the attitude of the control pedestal remains within the desired range while accomplishing the target capture task. The planar two-joint space robot system is simulated, and the results show that the algorithm is feasible and effective.