对于本体姿态受控而位置不受控的空间机械臂系统 ,考虑存在参数不确定性及非参数不确定性 (包括扰动、未建模动态 ) ,本文在任务空间内提出了一种鲁棒复合自适应控制方法 ,证明了这种方法可以保证末端执行器在任务空间内的位置轨迹跟踪误差、关节空间内的角偏差和角偏差速率渐近收敛。仿真结果验证了算法的有效性 For the space manipulator system with controlled body position and uncontrolled position, considering the parameter uncertainties and non-parametric uncertainties (including perturbations and unmodeled dynamics), this paper presents a robust composite The adaptive control method proves that this method can ensure the position tracking error of the end effector in the mission space, and the angular deviation and angular deviation rate in the joint space converge asymptotically. Simulation results verify the effectiveness of the algorithm