中文摘要：

利用牛顿-欧拉方法分析了多臂自由飞行空间机器人协调操作系统的动力学特性，推导出多臂自由飞行空间机器人协调操作的机械臂铰接连杆间的广义作用力计算方法．通过逐级迭代建立了多臂自由飞行空间机器人系统的动力学方程，进一步得到了驱动电机控制力矩的计算公式．仿真证明多臂自由飞行空间机器人操作的目标物体能够跟踪目标物体的期望位姿．

英文摘要：

The coordination dynamics character of multi-arm free-flying space robot was analyzed with the approach of Newton-Euler. The calculating method of general force between any two bars connected of FFSR was deduced. The dynamics equation of multi-arm coordinate FFSR was established. Furthermore torques calculation formulation of driving motors of multi-arm space robot was given. The actual trajectory of the object on the object-body coordinated by manipulators can track the desired position and orientation curves through dynamic simulation analysis.