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中文摘要：
针对自由漂浮空间机械臂执行在轨服务（On—Orbit Servicing，OOS）时对基座姿态的扰动问题，设计了一种基于扩展雅克比矩阵的自适应零反作用运动控制器。通过巧妙利用角动量守恒定律，解决了广义雅克比矩阵的非线性参数化问题。基于此，将运动学不确定性和动力学不确定性都考虑在内，采用李雅普诺夫稳定性分析工具，得到了自适应零反作用运动控制器，可以同时实现航天器姿态调节和机械臂末端执行器对任务空间中期望轨迹的跟踪，并且不需要测量机械臂末端执行器的速度。仿真结果表明了本文所提算法的有效性。
英文摘要：
This paper is devoted to the investigation of the adaptive zero reaction motion control for free-floating space manipulators in the presence of both the dynamic and kinematic uncertainties. The nonlinearly parametric problem of the generalized Jacobian matrix is solved based on the angular momentum conservation law. By virtue of the Lyapunov stability theory, we propose an adaptive extended Jacobian zero reaction controller for free-floating space manipulators, taking into account both the kinematic and dynamic uncertainties, and show that both the spacecraft attitude regulation and end-effector trajectory tracking can be achieved without using the end-effector velocity. The performances of the proposed controller are illustrated via the numerical simulation on a three-DOF planar space manipulator.
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