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讨论了载体位置与姿态均不受控制的漂浮基两杆空间机械臂系统的控制问题．系统动力学分析的结果表明，结合系统动量及动量矩守恒关系得到的系统动力学方程将为系统惯性参数的非线性函数．证明了借助于增广变量法，即通过适当扩展系统的控制输入与输出可以得到一组控制方程，它们可以表示为一组适当选择的惯性参数的线性函数．以此为基础，针对机械臂末端载荷参数未知的情况，设计了关节空间轨迹跟踪的增广自适应控制方案．此控制方案的显著优点在于不需要测量漂浮基的位置及移动的速度、加速度．仿真运算证实了方法的有效性．
The control problem of the floating base two-barreled space manipulator system with uncontrolled position and attitude is discussed. The results of system dynamics analysis show that the system dynamics equation obtained by combining the conservation of system momentum and momentum will be a nonlinear function of the system inertia parameter. It is proved that by means of the augmented variable method, a set of control equations can be obtained by appropriately expanding the control inputs and outputs of the system, which can be expressed as a linear function of a suitably chosen set of inertia parameters. Based on this, an augmented adaptive control scheme of joint space trajectory tracking is designed for the unknown end load parameters of manipulator. A significant advantage of this control scheme is that it is not necessary to measure the position of the floating base and the speed and acceleration of the movement. Simulation results show the effectiveness of the method.