中文摘要：

针对带任意节机械臂的空间机器人，采用退步法设计了基座姿态与机械臂受控的复合控制器。所设计的控制器以机械臂末端在工作空间中的位置和姿态、机械臂在关节空间中的关节角、关节角速度、基座姿态角和姿态角速度为反馈变量，可直接实现机械臂在工作空间的控制任务，避免了从工作空间到关节空间的运动学规划及Jacobian矩阵求导，同时，通过对基座的姿态控制能扩展机器人的功能，改善机械臂的动力学奇异特性。以某个带有6节机械臂的空间机器人为背景进行了数学仿真，验证了所设计的控制器的有效性。

英文摘要：

A composite attitude controller for the base and the manipulator is designed for a free-flying space robot via the backstepping method. The controller ,which feeds back the position and orientation of the manipulator tip in workspace, joint angle and speed in joint space, attitude and velocity of the base, can fulfill the task in workspace directly, avoiding the motion planning from workspaee to joint space and the complicated differentiating of the Jacobian matrix. Meanwhile, attitude control of the base can extend the capacity of space robot and improve the character of dynamical singularity. Finally, the numerical simulation of a free-flying space robot validates the effectiveness of the controller.