The control problem for free-floating space robot system with dual-arms to track the desired trajectory in joint space was discussed.

讨论了自由漂浮双臂空间机器人系统关节轨迹跟踪的控制问题。

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Combining the relationship of the linear momentum conversation and the Lagrange approach, the full-controlled dynamic equation of space-based robot system with dual-arms were analysed and established.

利用拉格朗日方法并结合系统动量守恒关系，分析、建立了漂浮基双臂空间机器人完全能控形式的系统动力学方程。

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