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。

Kinematics of the space robot system with an attitude controlled robot is derived and the generalized Jacobian is given.

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结合旋量理论与递推算子可以直接得到易于计算机编程实现的广义雅可比矩阵。整个计算过程简单、效率高。

Then it can avoid the analysis of the coupling between base and manipulator, so the Jacobian matrix can be achieved simple and efficiency.

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并将移动平台视为广义运动副，利用速度叠加原理完成了雅可比矩阵的求解。

And it also got Jacobian matrix by using the speed superposition principle through regarding mobile platform as Generalized Kinematic Pair.

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并将移动平台视为广义运动副，利用速度叠加原理完成了雅可比矩阵的求解。

And it also got Jacobian matrix by using the speed superposition principle through regarding mobile platform as Generalized Kinematic Pair.

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