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讨论具有滑移铰的三刚体空间机械臂的逆动力学问题，给出了机械臂末端运动速度与关节铰速度变量之间的运动Ｊａｃｏｂｉ关系，并以此为基础讨论了空间机械臂的分解运动速度控制方法．通过仿真运算，证实了方法的有效性．
In this paper, we discuss the inverse kinematics of a three-rigid-body space manipulator with a sliding hinge and give the Jacobi-Jacobi relation between the velocity of the manipulator and the hinge joint velocity. Based on this, we discuss the decomposition motion of the space manipulator Speed control method. Through simulation, the validity of the method is verified.