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基于参数线性分离方法，得到了平面型两关节空间机器人线性参数化形式的动力学模型，这种模型非常适合于采用自适应控制方法。控制策略考虑了机器人各关节之间的耦合及机械臂与基座航天器之间的耦合，对航天器姿态的控制和机械臂的控制进行综合，在满足手端跟踪期望轨迹的同时，保证航天器姿态基本不变。控制器由一个PD反馈项和一个补偿动力学不确定性的非线性自适应反馈项构成，能够保证对期望关节轨迹的全局渐进跟踪，提高了空间机器人操作的适应性和安全性。
Based on the linear parameter separation method, the dynamic model of the linear two-joint space robot in the form of linear parameters is obtained. The model is very suitable for the adaptive control method. The control strategy takes into account the coupling between the robot joints and the coupling between the robot arm and the base spacecraft, the control of the attitude of the spacecraft and the control of the robot arm. While satisfying the hand-tracking desired trajectory, the control strategy ensures that the spacecraft Basic attitude unchanged. The controller consists of a PD feedback term and a nonlinear adaptive feedback term that compensates the dynamical uncertainties. It can guarantee the global asymptotic tracking of the desired joint trajectory and improve the adaptability and safety of the space robot.